diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 447e559c9..252a66a6b 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -1,53 +1,44 @@ -name: "PR review" +name: "PR Review" on: pull_request_target: - types: [opened, reopened, synchronize, edited, edited] + types: [opened, reopened] jobs: - labeler: - name: review - permissions: - contents: read - pull-requests: write + pr_check: + name: Check PR Target Branch runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 + - name: Checkout repository + uses: actions/checkout@v3 with: - submodules: false + fetch-depth: 0 - # Label PRs - - uses: actions/labeler@v5.0.0 - with: - dot: true - configuration-path: .github/labeler.yaml - - # Check PR target branch - - name: check branch - uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5 - if: github.repository == 'commaai/openpilot' + - name: Check Target Branch + shell: bash env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - with: - target: /^(?!master$).*/ - exclude: /commaai:.*/ - change-to: ${{ github.base_ref }} - already-exists-action: close_this - already-exists-comment: "Your PR should be made against the `master` branch" + GITHUB_TOKEN: ${{ secrets.PERSONAL_ACCESS_TOKEN }} + run: | + TOKEN_USERNAME=$(gh api user -H "Authorization: token $GITHUB_TOKEN" --jq '.login') - # Welcome comment - - name: comment - uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6 - if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' - with: - message: | - - Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: - * Convert your PR to a draft unless it's ready to review - * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md) - * Before marking as "ready for review", ensure: - * the goal is clearly stated in the description - * all the tests are passing - * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged) - * include a route or your device' dongle ID if relevant - comment_tag: run_id - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + if [[ "${{ github.actor }}" == "FrogAi" ]]; then + echo "PR opened or reopened by FrogAi. No action needed." + exit 0 + fi + + if [[ "${{ github.base_ref }}" != "MAKE-PRS-HERE" ]]; then + git config --global user.name "${{ github.actor }}" + git config --global user.email "${{ github.actor }}@users.noreply.github.com" + + gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \ + -H "Authorization: token $GITHUB_TOKEN" \ + -f body="Please submit your pull request to the \"MAKE-PRS-HERE\" branch." + + gh api repos/${{ github.repository }}/pulls/${{ github.event.pull_request.number }} \ + -X PATCH -H "Authorization: token $GITHUB_TOKEN" -f state='closed' + + exit 1 + else + gh api repos/${{ github.repository }}/issues/${{ github.event.pull_request.number }}/comments \ + -H "Authorization: token $GITHUB_TOKEN" \ + -f body="Thank you for your PR! If you're not already in the FrogPilot Discord, [feel free to join](https://discord.FrogPilot.download) and let me know you've opened a PR!" + fi diff --git a/.github/workflows/update-pr-branch.yaml b/.github/workflows/update-pr-branch.yaml new file mode 100644 index 000000000..8facfe305 --- /dev/null +++ b/.github/workflows/update-pr-branch.yaml @@ -0,0 +1,59 @@ +name: Update MAKE-PRS-HERE + +on: + push: + branches: + - FrogPilot-Staging + +env: + SOURCE_BRANCH: FrogPilot-Staging + TARGET_BRANCH: MAKE-PRS-HERE + +jobs: + squash-and-cherry-pick: + runs-on: ubuntu-latest + + steps: + - name: Checkout repository + uses: actions/checkout@v3 + with: + ref: ${{ env.SOURCE_BRANCH }} + fetch-depth: 0 + + - name: Set Git user name and email + run: | + git config --global user.name "${{ github.actor }}" + git config --global user.email "${{ github.actor }}@users.noreply.github.com" + + - name: Get the second to last commit hash and create a temporary branch + run: | + commit_hash=$(git rev-parse HEAD~1) + git checkout -b temp-branch $commit_hash + + - name: Squash all commits into one with today's date in Phoenix time zone + run: | + day=$(TZ='America/Phoenix' date '+%-d') + suffix="th" + case $day in + 1|21|31) suffix="st" ;; + 2|22) suffix="nd" ;; + 3|23) suffix="rd" ;; + esac + commit_message="$(TZ='America/Phoenix' date '+%B ')$day$suffix, $(TZ='America/Phoenix' date '+%Y') Update" + git reset --soft $(git rev-list --max-parents=0 HEAD) + git commit -m "$commit_message" + + - name: Cherry-pick the squashed commit to target branch and push + run: | + git fetch origin + git checkout ${{ env.TARGET_BRANCH }} + git cherry-pick temp-branch -X theirs || { + if git status | grep -q "nothing to commit, working tree clean"; then + echo "Empty commit detected, skipping cherry-pick." + git cherry-pick --skip + else + echo "Continuing with cherry-pick." + git cherry-pick --continue + fi + } + git push origin ${{ env.TARGET_BRANCH }} diff --git a/.github/workflows/update-release-branch.yaml b/.github/workflows/update-release-branch.yaml new file mode 100644 index 000000000..328bbff4e --- /dev/null +++ b/.github/workflows/update-release-branch.yaml @@ -0,0 +1,27 @@ +name: Update FrogPilot Branch + +on: + workflow_dispatch: + +jobs: + update-branch: + runs-on: ubuntu-latest + steps: + - name: Checkout repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Reset "FrogPilot-Previous" branch to match "FrogPilot" + run: | + git fetch origin + git checkout FrogPilot-Previous || git checkout -b FrogPilot-Previous + git reset --hard origin/FrogPilot + git push origin FrogPilot-Previous --force + + - name: Reset "FrogPilot" branch to match "FrogPilot-Staging" + run: | + git fetch origin + git checkout FrogPilot || git checkout -b FrogPilot + git reset --hard origin/FrogPilot-Staging + git push origin FrogPilot --force diff --git a/README.md b/README.md index db74ee6a1..3364f2de0 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x) +[![openpilot on the comma 3X](https://i.imgur.com/Zwv9SaN.png)](https://comma.ai/shop/comma-3x) What is openpilot? ------ @@ -13,53 +13,201 @@ What is openpilot? -To start using openpilot in a car +What is FrogPilot? 🐸 ------ -To use openpilot in a car, you need four things: -1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). -2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. -3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). -4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. +FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise commits striving to be a resource for the openpilot developer community. It thrives on contributions from both users and developers, focusing on a collaborative, community-led approach to deliver an advanced openpilot experience for everyone! -We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. +------ +FrogPilot was last updated on: -To start developing openpilot +**January 18th, 2025** + +Features ------ -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). +FrogPilot offers a wide range of customizable features that are easily toggled on or off to suit your preferences. Whether you want a completely stock openpilot experience, or want to add some fun and personal touches, FrogPilot has you covered! Some of the features include: -* Join the [community Discord](https://discord.comma.ai) -* Check out [the contributing docs](docs/CONTRIBUTING.md) -* Check out the [openpilot tools](tools/) -* Read about the [development workflow](docs/WORKFLOW.md) -* Code documentation lives at https://docs.comma.ai -* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki) +------ +⚡ **Advanced Customizations:** -Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](docs/BOUNTIES.md) for external contributors. + - "Alert Volume Controller" to set the volume level for each of of openpilot's sounds + - Customize the following distance and jerk values for each personality profile + - Fine tune your car's "Steer Ratio" to perfect your lateral control + - Increase the distance when stopped behind lead vehicles + - Increase the max set speed by a custom interval (i.e. 2, 3, 4, 5, 6, etc. instead of just 1) + - Select between past, present, and future openpilot driving models +------ +🎨 **Custom Themes:** -Safety and Testing ----- + - 🐸 Frog theme (with a bonus 🐐 sound effect) + - Russia / Joseph Stalin theme + - 🔌 Tesla theme + - Holiday themes! Minor holidays last a day, while major holidays (Easter, Halloween, Thanksgiving, Christmas) last a week + - Random events triggered by specific actions while driving with openpilot -* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) 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. + - 📢 Want to add a theme? Request one in the "feature-request" channel in the FrogPilot Discord! +------ +🚀 **Conditional Experimental Mode:** -User Data and comma Account + - Auto-activates "Experimental Mode" under several conditions, including: + - Approaching intersections and turns while using navigation + - Approaching slower vehicles to take advantage of "Experimental Mode"'s smoother braking + - Curve and stop light/stop sign detection + - Driving below a set speed + - Turn signal activation below 55mph for turn assistance +------ +📊 **Developer UI:** + + - Display various driving logics such as the distance, speed, and the desired following distance to your lead vehicle + - Lane measuring of the adjacent lanes for lane detection + - Tap the "VEHICLE ONLINE"/"CPU"/"GPU" gauge to toggle between CPU and GPU monitoring + - Tap the "CONNECT ONLINE"/"MEMORY"/"LEFT"/"USED" gauge to toggle between RAM and storage monitoring +------ +🛠 **Device Management:** + + - Adjustable screen brightness for both onroad and offroad states + - Adjustable screen timeout times for both onroad and offroad states + - Backup and restore previous versions of FrogPilot + - Backup and restore previous versions of toggle configurations + - Battery level threshold to automatically shut the device down after you car's battery falls below a set voltage limit when offroad + - Delete stored driving data for increased privacy/space via the "Device" panel + - Device can operate offline indefinitely + - Disable logging and/or uploading + - Disable uploads while onroad to help reduce data usage + - Flash the Panda within the "Device" menu + - "Standby Mode" that wakes the screen up between engagement states or when important alerts are triggered + - Timer to automatically shut down after going offroad +------ +🚖 **Lateral Adjustments:** + + - Activate lateral control by simply pressing the "Cruise Control" button + - Force comma's auto tuning for unsupported vehicles + - Lateral control won't disengage on gas or brake + - Nudgeless lane changes with lane detection to prevent driving into curbs or going offroad + - Pause lateral control when below a set speed + - Pause lateral control when pressing the brake + - Pause lateral control when turn signals are active + - Precise turns by using turn desires when below the minimum lane change speed + - [Twilsonco's NNFF](https://github.com/twilsonco/openpilot) for smoother steering control +------ +🚘 **Longitudinal Adjustments:** + + - Aggressive acceleration when following a lead vehicle from a stop + - "Map Turn Speed Controller" to slow down for curves based on stored map data + - With an additional toggle to fine tune the speed aggressiveness + - Smoother braking behind slower leads + - "Speed Limit Controller" to adjust your speed to the posted speed limit + - With additional toggles to set offsets for "0-34 mph", "35-54 mph", "55-64 mph", and "65-99 mph" + - "Sport" and "Eco" acceleration and deceleration profiles + - "Traffic Mode" tailored towards driving in traffic + - Tweak the lead detection threshold to detect leads sooner for smoother braking on stopped/slower vehicles + - "Vision Turn Speed Controller" for smoother handling of curves + - With additional toggles to fine tune the speed aggressiveness and curve detection sensitivity +------ +🗺️ **Navigation:** + + - 3D buildings + - Custom map styles + - Full screen map that takes up the entire screen for a more expansive map view + - iOS shortcuts to quickly set navigation destinations + - Navigate on openpilot without a comma prime subscription + - Offline maps + - "Open Street Maps" integration for speed limit control and road name view +------ +🎮 **Onroad UI:** + + - Compass that rotates according to the direction you're driving + - FPS counter in the screen's border + - Hide various UI elements on the screen for a cleaner UI + - Pedals on the onroad UI indicate when the gas/brake pedals are being used + - Road UI Customizations: + - Acceleration path to show the model's desired acceleration/deceleration + - Blind spot path when a vehicle is detected in your blind spot + - Increase/decrease the lane line, path, and road edge widths + - Path edge colors based on specific driving statuses: + - 🔵 Blue - Navigation active + - 🟦 Light Blue - "Always On Lateral" active + - 🟢 Green - Default + - 🟠 Orange - "Experimental Mode" active + - 🔴 Red - "Traffic Mode" active + - 🟡 Yellow - "Conditional Experimental Mode" overridden + - "Unlimited" road UI that extends out as far as the model can see + - Sidebar retains it's previous position between reboots/ignition cycles + - Steering wheel icons + - 📢 Request your own steering wheel icon in the "feature-request" channel! + - Steering wheel in the onroad UI rotates alongside your physical steering wheel +------ +🚙 **Vehicle Specific Additions:** + + - Automatic/manual fingerprint selection to force a selected fingerprint + - Custom longitudinal tunings for GM EVs and trucks for smoother gas and brake control + - Custom longitudinal tunings for Toyota/Lexus for smoother gas and brake control + - Disable openpilot longitudinal control to use your car's stock cruise control + - GM Volt support + - Honda Clarity support + - Increased torque for the Subaru Crosstrek + - Lock doors automatically when in the drive gear for Toyota/Lexus and unlock when in park + - openpilot longitudinal control for GM vehicles without ACC + - Pedal interceptor support for GM vehicles + - "Stop and Go" hack for Toyota's without stop and go functionality + - ZSS support for the Toyota Prius and Sienna +------ +🚦 **Quality of Life Features:** + + - Automatic updates for a completely "set and forget" experience + - Camera view selection + - Custom alerts for green lights, vehicles in blindspot, lead departing, and the current speed limit changing + - Display the driver camera when in reverse + - Driving statistics to show how many hours and miles you've driven on the home screen + - Fleet Manager to easily access your driving data and screen recordings + - Numerical temperature gauge + - Retain tethering status between reboots + - Screenrecorder + - Toggle "Experimental Mode" via the "Lane Departure Alert" button, holding down the "Distance" button for 0.5+ seconds, or by double tapping the screen + +How to Install ------ -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. +Easiest way to install FrogPilot is via this URL at the installation screen: -openpilot is open source software: the user is free to disable data collection if they wish to do so. +``` +frogpilot.download +``` -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. +DO NOT install the "FrogPilot-Development" branch. I'm constantly breaking things on there, so unless you don't want to use openpilot, NEVER install it! -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. +![](https://i.imgur.com/swr0kqJ.png) + +Bug reports / Feature Requests +------ + +If you encounter any issues or bugs while using FrogPilot, or if you have any suggestions for new features or improvements, please don't hesitate to post about it on the Discord! I'm always looking for ways to improve the fork and provide a better experience for everyone! + +To report a bug or request a new feature, make a post in the #bug-reports or #feature-requests channel respectively on the FrogPilot Discord. Please provide as much detail as possible about the issue you're experiencing or the feature you'd like to see added. Photos, videos, log files, or other relevant information are very helpful! + +I will do my best to respond to bug reports and feature requests in a timely manner, but please understand that I may not be able to address every request immediately. Your feedback and suggestions are valuable, and I appreciate your help in making FrogPilot the best it can be! + +Discord +------ + +[Join the FrogPilot Community Discord!](https://discord.gg/frogpilot) + +Credits +------ + +* [AlexandreSato](https://github.com/AlexandreSato) +* [Crwusiz](https://github.com/crwusiz) +* [DragonPilot](https://github.com/dragonpilot-community) +* [ErichMoraga](https://github.com/ErichMoraga) +* [Garrettpall](https://github.com/garrettpall) +* [Mike8643](https://github.com/mike8643) +* [Neokii](https://github.com/Neokii) +* [OPGM](https://github.com/opgm) +* [OPKR](https://github.com/openpilotkr) +* [Pfeiferj](https://github.com/pfeiferj) +* [ServerDummy](https://github.com/ServerDummy) +* [Twilsonco](https://github.com/twilsonco) Licensing ------ diff --git a/cereal/car.capnp b/cereal/car.capnp index a7d299a8e..9f3505338 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { startup @75; startupNoCar @76; startupNoControl @77; + startupNoSecOcKey @121; startupMaster @78; startupNoFw @104; fcw @79; @@ -118,7 +119,35 @@ struct CarEvent @0x9b1657f34caf3ad3 { actuatorsApiUnavailable @120; # FrogPilot Events - pedalInterceptorNoBrake @134; + accel30 @122; + accel35 @123; + accel40 @124; + blockUser @125; + customStartupAlert @126; + dejaVuCurve @127; + firefoxSteerSaturated @128; + forcingStop @129; + goatSteerSaturated @130; + greenLight @131; + hal9000 @132; + holidayActive @133; + laneChangeBlockedLoud @134; + leadDeparting @135; + noLaneAvailable @136; + openpilotCrashed @137; + openpilotCrashedRandomEvent @138; + pedalInterceptorNoBrake @139; + speedLimitChanged @140; + thisIsFineSteerSaturated @141; + toBeContinued @142; + torqueNNLoad @143; + trafficModeActive @144; + trafficModeInactive @145; + turningLeft @146; + turningRight @147; + vCruise69 @148; + yourFrogTriedToKillMe @149; + youveGotMail @150; radarCanErrorDEPRECATED @15; communityFeatureDisallowedDEPRECATED @62; @@ -415,6 +444,22 @@ struct CarControl { prompt @6; promptRepeat @7; promptDistracted @8; + + # FrogPilot sounds + angry @9; + continued @10; + dejaVu @11; + doc @12; + fart @13; + firefox @14; + goat @15; + hal9000 @16; + mail @17; + nessie @18; + noice @19; + startup @20; + thisIsFine @21; + uwu @22; } } @@ -507,6 +552,9 @@ struct CarParams { wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds + secOcRequired @74 :Bool; # Car requires SecOC message authentication to operate + secOcKeyAvailable @75 :Bool; # Stored SecOC key loaded from params + struct SafetyConfig { safetyModel @0 :SafetyModel; safetyParam @3 :UInt16; @@ -544,8 +592,8 @@ struct CarParams { kiBP @2 :List(Float32); kiV @3 :List(Float32); kf @6 :Float32; - deadzoneBPDEPRECATED @4 :List(Float32); - deadzoneVDEPRECATED @5 :List(Float32); + deadzoneBP @4 :List(Float32); + deadzoneV @5 :List(Float32); } struct LateralINDITuning { diff --git a/cereal/custom.capnp b/cereal/custom.capnp index 369222add..26d2c5bc1 100644 --- a/cereal/custom.capnp +++ b/cereal/custom.capnp @@ -1,6 +1,8 @@ using Cxx = import "./include/c++.capnp"; $Cxx.namespace("cereal"); +using Car = import "car.capnp"; + @0xb526ba661d550a59; # custom.capnp: a home for empty structs reserved for custom forks @@ -8,19 +10,75 @@ $Cxx.namespace("cereal"); # cereal, so use these if you want custom events in your fork. # you can rename the struct, but don't change the identifier -struct CustomReserved0 @0x81c2f05a394cf4af { +struct FrogPilotCarControl @0x81c2f05a394cf4af { + accelPressed @0 :Bool; + alwaysOnLateralActive @1 :Bool; + decelPressed @2 :Bool; + fcwEventTriggered @3 :Bool; + noEntryEventTriggered @4 :Bool; + steerSaturatedEventTriggered @5 :Bool; } -struct CustomReserved1 @0xaedffd8f31e7b55d { +struct FrogPilotCarState @0xaedffd8f31e7b55d { + struct ButtonEvent { + enum Type { + lkas @0; + } + } + + alwaysOnLateralDisabled @0 :Bool; + brakeLights @1 :Bool; + dashboardSpeedLimit @2 :Float32; + distanceLongPressed @3 :Bool; + ecoGear @4 :Bool; + hasMenu @5 :Bool; + sportGear @6 :Bool; + trafficModeActive @7 :Bool; } -struct CustomReserved2 @0xf35cc4560bbf6ec2 { +struct FrogPilotDeviceState @0xf35cc4560bbf6ec2 { + freeSpace @0 :Int16; + usedSpace @1 :Int16; } -struct CustomReserved3 @0xda96579883444c35 { +struct FrogPilotNavigation @0xda96579883444c35 { + approachingIntersection @0 :Bool; + approachingTurn @1 :Bool; + navigationSpeedLimit @2 :Float32; } -struct CustomReserved4 @0x80ae746ee2596b11 { +struct FrogPilotPlan @0x80ae746ee2596b11 { + accelerationJerk @0 :Float32; + accelerationJerkStock @1 :Float32; + dangerJerk @2 :Float32; + desiredFollowDistance @3 :Int64; + experimentalMode @4 :Bool; + forcingStop @5 :Bool; + forcingStopLength @6 :Float32; + frogpilotEvents @7 :List(Car.CarEvent); + lateralCheck @8 :Bool; + laneWidthLeft @9 :Float32; + laneWidthRight @10 :Float32; + maxAcceleration @11 :Float32; + minAcceleration @12 :Float32; + mtscSpeed @13 :Float32; + redLight @14 :Bool; + slcMapSpeedLimit @15 :Float32; + slcOverridden @16 :Bool; + slcOverriddenSpeed @17 :Float32; + slcSpeedLimit @18 :Float32; + slcSpeedLimitOffset @19 :Float32; + slcSpeedLimitSource @20 :Text; + speedJerk @21 :Float32; + speedJerkStock @22 :Float32; + speedLimitChanged @23 :Bool; + tFollow @24 :Float32; + togglesUpdated @25 :Bool; + unconfirmedSlcSpeedLimit @26 :Float32; + upcomingSLCSpeedLimit @27 :Float32; + vCruise @28 :Float32; + vtscControllingCurve @29 :Bool; + vtscSpeed @30 :Float32; } struct CustomReserved5 @0xa5cd762cd951a455 { diff --git a/cereal/log.capnp b/cereal/log.capnp index 99b5dddf1..f1cd6a929 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -335,6 +335,12 @@ enum LaneChangeDirection { right @2; } +enum TurnDirection { + none @0; + turnLeft @1; + turnRight @2; +} + struct CanData { address @0 :UInt32; busTime @1 :UInt16; @@ -612,6 +618,10 @@ struct RadarState @0x9a185389d6fdd05f { leadOne @3 :LeadData; leadTwo @4 :LeadData; + leadLeft @13 :LeadData; + leadRight @14 :LeadData; + leadLeftFar @15 :LeadData; + leadRightFar @16 :LeadData; cumLagMs @5 :Float32; struct LeadData { @@ -698,6 +708,7 @@ struct ControlsState @0x97ff69c53601abf1 { personality @66 :LongitudinalPersonality; longControlState @30 :Car.CarControl.Actuators.LongControlState; + vPid @2 :Float32; vTargetLead @3 :Float32; vCruise @22 :Float32; # actual set speed vCruiseCluster @63 :Float32; # set speed to display in the UI @@ -744,6 +755,7 @@ struct ControlsState @0x97ff69c53601abf1 { normal @0; # low priority alert for user's convenience userPrompt @1; # mid priority alert that might require user intervention critical @2; # high priority alert that needs immediate user intervention + frogpilot @3; # FrogPilot startup alert } enum AlertSize { @@ -794,6 +806,7 @@ struct ControlsState @0x97ff69c53601abf1 { saturated @7 :Bool; actualLateralAccel @9 :Float32; desiredLateralAccel @10 :Float32; + nnLog @11 :List(Float32); } struct LateralLQRState { @@ -865,7 +878,39 @@ struct ControlsState @0x97ff69c53601abf1 { canMonoTimesDEPRECATED @21 :List(UInt64); desiredCurvatureRateDEPRECATED @62 :Float32; canErrorCounterDEPRECATED @57 :UInt32; - vPidDEPRECATED @2 :Float32; +} + +struct DrivingModelData { + frameId @0 :UInt32; + frameIdExtra @1 :UInt32; + frameDropPerc @6 :Float32; + modelExecutionTime @7 :Float32; + + action @2 :ModelDataV2.Action; + + laneLineMeta @3 :LaneLineMeta; + meta @4 :MetaData; + + path @5 :PolyPath; + + struct PolyPath { + xCoefficients @0 :List(Float32); + yCoefficients @1 :List(Float32); + zCoefficients @2 :List(Float32); + } + + struct LaneLineMeta { + leftY @0 :Float32; + rightY @1 :Float32; + leftProb @2 :Float32; + rightProb @3 :Float32; + } + + struct MetaData { + laneChangeState @0 :LaneChangeState; + laneChangeDirection @1 :LaneChangeDirection; + turnDirection @2 :TurnDirection; + } } # All SI units and in device frame @@ -913,8 +958,8 @@ struct ModelDataV2 { # Model perceived motion temporalPose @21 :Pose; - navEnabledDEPRECATED @22 :Bool; - locationMonoTimeDEPRECATED @24 :UInt64; + navEnabled @22 :Bool; + locationMonoTime @24 :UInt64; # e2e lateral planner lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution; @@ -958,6 +1003,7 @@ struct ModelDataV2 { hardBrakePredicted @7 :Bool; laneChangeState @8 :LaneChangeState; laneChangeDirection @9 :LaneChangeDirection; + turnDirection @10 :TurnDirection; # deprecated @@ -980,6 +1026,8 @@ struct ModelDataV2 { brake3MetersPerSecondSquaredProbs @4 :List(Float32); brake4MetersPerSecondSquaredProbs @5 :List(Float32); brake5MetersPerSecondSquaredProbs @6 :List(Float32); + gasPressProbs @7 :List(Float32); + brakePressProbs @8 :List(Float32); } struct Pose { @@ -2264,6 +2312,7 @@ struct Event { driverMonitoringState @71: DriverMonitoringState; liveLocationKalman @72 :LiveLocationKalman; modelV2 @75 :ModelDataV2; + drivingModelData @128 :DrivingModelData; driverStateV2 @92 :DriverStateV2; # camera stuff, each camera state has a matching encode idx @@ -2318,11 +2367,11 @@ struct Event { customReservedRawData2 @126 :Data; # *********** Custom: reserved for forks *********** - customReserved0 @107 :Custom.CustomReserved0; - customReserved1 @108 :Custom.CustomReserved1; - customReserved2 @109 :Custom.CustomReserved2; - customReserved3 @110 :Custom.CustomReserved3; - customReserved4 @111 :Custom.CustomReserved4; + frogpilotCarControl @107 :Custom.FrogPilotCarControl; + frogpilotCarState @108 :Custom.FrogPilotCarState; + frogpilotDeviceState @109 :Custom.FrogPilotDeviceState; + frogpilotNavigation @110 :Custom.FrogPilotNavigation; + frogpilotPlan @111 :Custom.FrogPilotPlan; customReserved5 @112 :Custom.CustomReserved5; customReserved6 @113 :Custom.CustomReserved6; customReserved7 @114 :Custom.CustomReserved7; @@ -2368,6 +2417,6 @@ struct Event { driverStateDEPRECATED @59 :DriverStateDEPRECATED; sensorEventsDEPRECATED @11 :List(SensorEventData); lateralPlanDEPRECATED @64 :LateralPlan; - navModelDEPRECATED @104 :NavModelData; + navModel @104 :NavModelData; } } diff --git a/cereal/services.py b/cereal/services.py index 2ab28f6d5..6a15c9672 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -60,12 +60,15 @@ _services: dict[str, tuple] = { "driverMonitoringState": (True, 20., 10), "wideRoadEncodeIdx": (False, 20., 1), "wideRoadCameraState": (True, 20., 20), + "drivingModelData": (True, 20., 10), "modelV2": (True, 20., 40), "managerState": (True, 2., 1), "uploaderState": (True, 0., 1), "navInstruction": (True, 1., 10), "navRoute": (True, 0.), "navThumbnail": (True, 0.), + "navModel": (True, 2., 4.), + "mapRenderState": (True, 2., 1.), "uiPlan": (True, 20., 40.), "qRoadEncodeIdx": (False, 20.), "userFlag": (True, 0., 1), @@ -87,6 +90,13 @@ _services: dict[str, tuple] = { "customReservedRawData0": (True, 0.), "customReservedRawData1": (True, 0.), "customReservedRawData2": (True, 0.), + + # FrogPilot + "frogpilotCarControl": (True, 100., 10), + "frogpilotCarState": (True, 100., 10), + "frogpilotDeviceState": (True, 2., 1), + "frogpilotNavigation": (True, 1., 10), + "frogpilotPlan": (True, 20., 5), } SERVICE_LIST = {name: Service(*vals) for idx, (name, vals) in enumerate(_services.items())} diff --git a/common/conversions.py b/common/conversions.py index b02b33c62..62c8debdb 100644 --- a/common/conversions.py +++ b/common/conversions.py @@ -11,6 +11,12 @@ class Conversions: MS_TO_KNOTS = 1.9438 KNOTS_TO_MS = 1. / MS_TO_KNOTS + # Distance + METER_TO_FOOT = 3.28084 + FOOT_TO_METER = 1. / METER_TO_FOOT + CM_TO_INCH = 1. / 2.54 + INCH_TO_CM = 1. / CM_TO_INCH + # Angle DEG_TO_RAD = np.pi / 180. RAD_TO_DEG = 1. / DEG_TO_RAD diff --git a/common/params.cc b/common/params.cc index 233016017..e1ac9b318 100644 --- a/common/params.cc +++ b/common/params.cc @@ -189,6 +189,7 @@ std::unordered_map keys = { {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"RouteCount", PERSISTENT}, + {"SecOCKey", PERSISTENT | DONT_LOG}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, {"TermsVersion", PERSISTENT}, @@ -207,6 +208,349 @@ std::unordered_map keys = { {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, {"UpdaterLastFetchTime", PERSISTENT}, {"Version", PERSISTENT}, + + // FrogPilot parameters + {"AccelerationPath", PERSISTENT | FROGPILOT_VISUALS}, + {"AccelerationProfile", PERSISTENT | FROGPILOT_CONTROLS}, + {"AdjacentLeadsUI", PERSISTENT | FROGPILOT_CONTROLS}, + {"AdjacentPath", PERSISTENT | FROGPILOT_VISUALS}, + {"AdjacentPathMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"AdvancedCustomUI", PERSISTENT | FROGPILOT_VISUALS}, + {"AdvancedLateralTune", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressiveFollow", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressiveJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressiveJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressiveJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressiveJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressiveJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, + {"AggressivePersonalityProfile", PERSISTENT | FROGPILOT_CONTROLS}, + {"AlertVolumeControl", PERSISTENT | FROGPILOT_VISUALS}, + {"AlwaysOnLateral", PERSISTENT | FROGPILOT_CONTROLS}, + {"AlwaysOnLateralLKAS", PERSISTENT | FROGPILOT_CONTROLS}, + {"AlwaysOnLateralMain", PERSISTENT | FROGPILOT_CONTROLS}, + {"AMapKey1", PERSISTENT}, + {"AMapKey2", PERSISTENT}, + {"ApiCache_DriveStats", PERSISTENT}, + {"AutomaticallyUpdateModels", PERSISTENT | FROGPILOT_CONTROLS}, + {"AutomaticUpdates", PERSISTENT | FROGPILOT_OTHER}, + {"AvailableModels", PERSISTENT}, + {"AvailableModelNames", PERSISTENT}, + {"BigMap", PERSISTENT | FROGPILOT_VISUALS}, + {"BlacklistedModels", PERSISTENT | FROGPILOT_CONTROLS}, + {"BlindSpotMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"BlindSpotPath", PERSISTENT | FROGPILOT_VISUALS}, + {"BorderMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"CameraView", PERSISTENT | FROGPILOT_VISUALS}, + {"CancelModelDownload", CLEAR_ON_MANAGER_START}, + {"CancelThemeDownload", CLEAR_ON_MANAGER_START}, + {"CarMake", PERSISTENT}, + {"CarModel", PERSISTENT}, + {"CarModelName", PERSISTENT}, + {"CECurves", PERSISTENT | FROGPILOT_CONTROLS}, + {"CECurvesLead", PERSISTENT | FROGPILOT_CONTROLS}, + {"CELead", PERSISTENT | FROGPILOT_CONTROLS}, + {"CEModelStopTime", PERSISTENT | FROGPILOT_CONTROLS}, + {"CENavigation", PERSISTENT | FROGPILOT_CONTROLS}, + {"CENavigationIntersections", PERSISTENT | FROGPILOT_CONTROLS}, + {"CENavigationLead", PERSISTENT | FROGPILOT_CONTROLS}, + {"CENavigationTurns", PERSISTENT | FROGPILOT_CONTROLS}, + {"CertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"CertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"CESignalSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"CESignalLaneDetection", PERSISTENT | FROGPILOT_CONTROLS}, + {"CESlowerLead", PERSISTENT | FROGPILOT_CONTROLS}, + {"CESpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"CESpeedLead", PERSISTENT | FROGPILOT_CONTROLS}, + {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION}, + {"CEStoppedLead", PERSISTENT | FROGPILOT_CONTROLS}, + {"ClusterOffset", PERSISTENT | FROGPILOT_VEHICLES}, + {"ColorToDownload", CLEAR_ON_MANAGER_START}, + {"Compass", PERSISTENT | FROGPILOT_VISUALS}, + {"ConditionalExperimental", PERSISTENT | FROGPILOT_CONTROLS}, + {"CurveSensitivity", PERSISTENT | FROGPILOT_CONTROLS}, + {"CurveSpeedControl", PERSISTENT | FROGPILOT_CONTROLS}, + {"CustomAlerts", PERSISTENT | FROGPILOT_VISUALS}, + {"CustomColors", PERSISTENT | FROGPILOT_VISUALS}, + {"CustomCruise", PERSISTENT | FROGPILOT_CONTROLS}, + {"CustomCruiseLong", PERSISTENT | FROGPILOT_CONTROLS}, + {"CustomDistanceIcons", PERSISTENT | FROGPILOT_CONTROLS}, + {"CustomIcons", PERSISTENT | FROGPILOT_VISUALS}, + {"CustomPersonalities", PERSISTENT | FROGPILOT_CONTROLS}, + {"CustomSignals", PERSISTENT | FROGPILOT_VISUALS}, + {"CustomSounds", PERSISTENT | FROGPILOT_VISUALS}, + {"CustomUI", PERSISTENT | FROGPILOT_VISUALS}, + {"DecelerationProfile", PERSISTENT | FROGPILOT_CONTROLS}, + {"DeveloperUI", PERSISTENT | FROGPILOT_VISUALS}, + {"DeviceManagement", PERSISTENT | FROGPILOT_CONTROLS}, + {"DeviceShutdown", PERSISTENT | FROGPILOT_CONTROLS}, + {"DisableOnroadUploads", PERSISTENT | FROGPILOT_CONTROLS}, + {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_VEHICLES}, + {"DiscordUsername", PERSISTENT}, + {"DissolvedOxygenDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"DissolvedOxygenScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"DistanceIconToDownload", CLEAR_ON_MANAGER_START}, + {"DisengageVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"DoToggleReset", PERSISTENT}, + {"DownloadableColors", PERSISTENT}, + {"DownloadableDistanceIcons", PERSISTENT}, + {"DownloadableIcons", PERSISTENT}, + {"DownloadableSignals", PERSISTENT}, + {"DownloadableSounds", PERSISTENT}, + {"DownloadableWheels", PERSISTENT}, + {"DownloadAllModels", CLEAR_ON_MANAGER_START}, + {"DragonRiderDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"DragonRiderScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"DriverCamera", PERSISTENT | FROGPILOT_VISUALS}, + {"DuckAmigoDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"DuckAmigoScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"DynamicPathWidth", PERSISTENT | FROGPILOT_VISUALS}, + {"DynamicPedalsOnUI", PERSISTENT | FROGPILOT_VISUALS}, + {"EngageVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"ExperimentalGMTune", PERSISTENT | FROGPILOT_VEHICLES}, + {"ExperimentalModeActivation", PERSISTENT | FROGPILOT_CONTROLS}, + {"ExperimentalModels", PERSISTENT}, + {"ExperimentalModeViaDistance", PERSISTENT | FROGPILOT_CONTROLS}, + {"ExperimentalModeViaLKAS", PERSISTENT | FROGPILOT_CONTROLS}, + {"ExperimentalModeViaTap", PERSISTENT | FROGPILOT_CONTROLS}, + {"Fahrenheit", PERSISTENT | FROGPILOT_VISUALS}, + {"FingerprintLogged", CLEAR_ON_MANAGER_START}, + {"FlashPanda", CLEAR_ON_MANAGER_START}, + {"ForceAutoTune", PERSISTENT | FROGPILOT_CONTROLS}, + {"ForceAutoTuneOff", PERSISTENT | FROGPILOT_CONTROLS}, + {"ForceFingerprint", PERSISTENT | FROGPILOT_VEHICLES}, + {"ForceMPHDashboard", PERSISTENT | FROGPILOT_CONTROLS}, + {"ForceOffroad", CLEAR_ON_MANAGER_START}, + {"ForceOnroad", CLEAR_ON_MANAGER_START}, + {"ForceStandstill", PERSISTENT | FROGPILOT_CONTROLS}, + {"ForceStops", PERSISTENT | FROGPILOT_CONTROLS}, + {"FPSCounter", PERSISTENT | FROGPILOT_VISUALS}, + {"FrogPilotDrives", PERSISTENT | FROGPILOT_TRACKING}, + {"FrogPilotKilometers", PERSISTENT | FROGPILOT_TRACKING}, + {"FrogPilotMinutes", PERSISTENT | FROGPILOT_TRACKING}, + {"FrogPilotToggles", CLEAR_ON_MANAGER_START}, + {"FrogPilotTogglesUpdated", CLEAR_ON_MANAGER_START}, + {"FrogPilotTuningLevels", CLEAR_ON_MANAGER_START}, + {"FrogsGoMoosTweak", PERSISTENT | FROGPILOT_VEHICLES}, + {"FullMap", PERSISTENT | FROGPILOT_VISUALS}, + {"GasRegenCmd", PERSISTENT | FROGPILOT_VEHICLES}, + {"GMapKey", PERSISTENT}, + {"GoatScream", PERSISTENT | FROGPILOT_VISUALS}, + {"GreenLightAlert", PERSISTENT | FROGPILOT_VISUALS}, + {"HideAlerts", PERSISTENT | FROGPILOT_VISUALS}, + {"HideCSCUI", PERSISTENT | FROGPILOT_CONTROLS}, + {"HideLeadMarker", PERSISTENT | FROGPILOT_VISUALS}, + {"HideMapIcon", PERSISTENT | FROGPILOT_VISUALS}, + {"HideMaxSpeed", PERSISTENT | FROGPILOT_VISUALS}, + {"HideSpeed", PERSISTENT | FROGPILOT_VISUALS}, + {"HideSpeedLimit", PERSISTENT | FROGPILOT_VISUALS}, + {"HolidayThemes", PERSISTENT | FROGPILOT_VISUALS}, + {"HumanAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"HumanFollowing", PERSISTENT | FROGPILOT_CONTROLS}, + {"IconToDownload", CLEAR_ON_MANAGER_START}, + {"IncreasedStoppedDistance", PERSISTENT | FROGPILOT_CONTROLS}, + {"IncreaseThermalLimits", PERSISTENT | FROGPILOT_CONTROLS}, + {"IssueReported", CLEAR_ON_MANAGER_START}, + {"JerkInfo", PERSISTENT | FROGPILOT_VISUALS}, + {"LaneChangeCustomizations", PERSISTENT | FROGPILOT_CONTROLS}, + {"LaneChangeTime", PERSISTENT | FROGPILOT_CONTROLS}, + {"LaneDetectionWidth", PERSISTENT | FROGPILOT_CONTROLS}, + {"LaneLinesWidth", PERSISTENT | FROGPILOT_VISUALS}, + {"LastMapsUpdate", PERSISTENT | FROGPILOT_OTHER}, + {"LateralMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"LateralTune", PERSISTENT | FROGPILOT_CONTROLS}, + {"LeadDepartingAlert", PERSISTENT | FROGPILOT_VISUALS}, + {"LeadDetectionThreshold", PERSISTENT | FROGPILOT_CONTROLS}, + {"LeadInfo", PERSISTENT | FROGPILOT_VISUALS}, + {"LockDoors", PERSISTENT | FROGPILOT_VEHICLES}, + {"LockDoorsTimer", PERSISTENT | FROGPILOT_VEHICLES}, + {"LongitudinalMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"LongitudinalTune", PERSISTENT | FROGPILOT_CONTROLS}, + {"LongPitch", PERSISTENT | FROGPILOT_VEHICLES}, + {"LosAngelesDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"LosAngelesScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"LoudBlindspotAlert", PERSISTENT | FROGPILOT_VISUALS}, + {"LowVoltageShutdown", PERSISTENT | FROGPILOT_CONTROLS}, + {"ManualUpdateInitiated", CLEAR_ON_MANAGER_START}, + {"MapAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"MapboxPublicKey", PERSISTENT}, + {"MapboxSecretKey", PERSISTENT}, + {"MapDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"MapGears", PERSISTENT | FROGPILOT_CONTROLS}, + {"MapsSelected", PERSISTENT | FROGPILOT_OTHER}, + {"MapSpeedLimit", CLEAR_ON_MANAGER_START}, + {"MapStyle", PERSISTENT | FROGPILOT_VISUALS}, + {"MapTargetVelocities", CLEAR_ON_MANAGER_START}, + {"MapTurnControl", PERSISTENT | FROGPILOT_CONTROLS}, + {"MaxDesiredAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"MinimumBackupSize", PERSISTENT}, + {"MinimumLaneChangeSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"Model", PERSISTENT | FROGPILOT_CONTROLS}, + {"ModelDrivesAndScores", PERSISTENT | FROGPILOT_CONTROLS}, + {"ModelDownloadProgress", CLEAR_ON_MANAGER_START}, + {"ModelRandomizer", PERSISTENT | FROGPILOT_CONTROLS}, + {"ModelToDownload", CLEAR_ON_MANAGER_START}, + {"ModelUI", PERSISTENT | FROGPILOT_VISUALS}, + {"ModelVersion", PERSISTENT | FROGPILOT_CONTROLS}, + {"ModelVersions", PERSISTENT | FROGPILOT_CONTROLS}, + {"MTSCCurvatureCheck", PERSISTENT | FROGPILOT_CONTROLS}, + {"NavigationUI", PERSISTENT | FROGPILOT_VISUALS}, + {"NextMapSpeedLimit", CLEAR_ON_MANAGER_START}, + {"NewLongAPI", PERSISTENT | FROGPILOT_VEHICLES}, + {"NewLongAPIGM", PERSISTENT | FROGPILOT_VEHICLES}, + {"NNFF", PERSISTENT | FROGPILOT_CONTROLS}, + {"NNFFLite", PERSISTENT | FROGPILOT_CONTROLS}, + {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION}, + {"NoLogging", PERSISTENT | FROGPILOT_CONTROLS}, + {"NorthDakotaDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"NorthDakotaScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"NotreDameDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"NotreDameScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"NoUploads", PERSISTENT | FROGPILOT_CONTROLS}, + {"NudgelessLaneChange", PERSISTENT | FROGPILOT_CONTROLS}, + {"NumericalTemp", PERSISTENT | FROGPILOT_VISUALS}, + {"OfflineMode", PERSISTENT | FROGPILOT_CONTROLS}, + {"Offset1", PERSISTENT | FROGPILOT_CONTROLS}, + {"Offset2", PERSISTENT | FROGPILOT_CONTROLS}, + {"Offset3", PERSISTENT | FROGPILOT_CONTROLS}, + {"Offset4", PERSISTENT | FROGPILOT_CONTROLS}, + {"OneLaneChange", PERSISTENT | FROGPILOT_CONTROLS}, + {"OnroadDistanceButton", PERSISTENT | FROGPILOT_CONTROLS}, + {"OnroadDistanceButtonPressed", CLEAR_ON_MANAGER_START}, + {"openpilotMinutes", PERSISTENT}, + {"OSMDownloadBounds", PERSISTENT}, + {"OSMDownloadLocations", PERSISTENT}, + {"OSMDownloadProgress", CLEAR_ON_MANAGER_START}, + {"PathEdgeWidth", PERSISTENT | FROGPILOT_VISUALS}, + {"PathWidth", PERSISTENT | FROGPILOT_VISUALS}, + {"PauseAOLOnBrake", PERSISTENT | FROGPILOT_CONTROLS}, + {"PauseLateralOnSignal", PERSISTENT | FROGPILOT_CONTROLS}, + {"PauseLateralSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"PedalsOnUI", PERSISTENT | FROGPILOT_VISUALS}, + {"PersonalizeOpenpilot", PERSISTENT | FROGPILOT_VISUALS}, + {"PreferredSchedule", PERSISTENT | FROGPILOT_OTHER}, + {"PreviousSpeedLimit", PERSISTENT}, + {"PromptDistractedVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"PromptVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"QOLLateral", PERSISTENT | FROGPILOT_CONTROLS}, + {"QOLLongitudinal", PERSISTENT | FROGPILOT_CONTROLS}, + {"QOLVisuals", PERSISTENT | FROGPILOT_VISUALS}, + {"RadicalTurtleDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"RadicalTurtleScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"RainbowPath", PERSISTENT | FROGPILOT_VISUALS}, + {"RandomEvents", PERSISTENT | FROGPILOT_VISUALS}, + {"RecertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"RecertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"RefuseVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"RelaxedFollow", PERSISTENT | FROGPILOT_CONTROLS}, + {"RelaxedJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"RelaxedJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, + {"RelaxedJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"RelaxedJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"RelaxedJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, + {"RelaxedPersonalityProfile", PERSISTENT | FROGPILOT_CONTROLS}, + {"ReverseCruise", PERSISTENT | FROGPILOT_CONTROLS}, + {"RoadEdgesWidth", PERSISTENT | FROGPILOT_VISUALS}, + {"RoadName", CLEAR_ON_MANAGER_START}, + {"RoadNameUI", PERSISTENT | FROGPILOT_VISUALS}, + {"RotatingWheel", PERSISTENT | FROGPILOT_VISUALS}, + {"ScreenBrightness", PERSISTENT | FROGPILOT_VISUALS}, + {"ScreenBrightnessOnroad", PERSISTENT | FROGPILOT_VISUALS}, + {"ScreenManagement", PERSISTENT | FROGPILOT_VISUALS}, + {"ScreenRecorder", PERSISTENT | FROGPILOT_VISUALS}, + {"ScreenTimeout", PERSISTENT | FROGPILOT_VISUALS}, + {"ScreenTimeoutOnroad", PERSISTENT | FROGPILOT_VISUALS}, + {"SearchInput", PERSISTENT | FROGPILOT_OTHER}, + {"SecretGoodOpenpilotDrives", PERSISTENT | FROGPILOT_CONTROLS}, + {"SecretGoodOpenpilotScore", PERSISTENT | FROGPILOT_CONTROLS}, + {"SetSpeedLimit", PERSISTENT | FROGPILOT_CONTROLS}, + {"SetSpeedOffset", PERSISTENT | FROGPILOT_CONTROLS}, + {"ShowCEMStatus", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowCPU", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowGPU", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowIP", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowMemoryUsage", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowSLCOffset", PERSISTENT | FROGPILOT_CONTROLS}, + {"ShowSpeedLimits", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowSteering", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowStoppingPoint", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowStoppingPointMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowStorageLeft", PERSISTENT | FROGPILOT_VISUALS}, + {"ShowStorageUsed", PERSISTENT | FROGPILOT_VISUALS}, + {"Sidebar", PERSISTENT | FROGPILOT_OTHER}, + {"SidebarMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"SignalMetrics", PERSISTENT | FROGPILOT_VISUALS}, + {"SignalToDownload", CLEAR_ON_MANAGER_START}, + {"SLCConfirmation", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCConfirmationHigher", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCConfirmationLower", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCLookaheadHigher", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCLookaheadLower", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCFallback", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCOverride", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCPriority1", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCPriority2", PERSISTENT | FROGPILOT_CONTROLS}, + {"SLCPriority3", PERSISTENT | FROGPILOT_CONTROLS}, + {"SmartTurnControl", PERSISTENT | FROGPILOT_CONTROLS}, + {"SNGHack", PERSISTENT | FROGPILOT_VEHICLES}, + {"SoundToDownload", CLEAR_ON_MANAGER_START}, + {"SpeedLimitAccepted", CLEAR_ON_MANAGER_START}, + {"SpeedLimitChangedAlert", PERSISTENT | FROGPILOT_CONTROLS}, + {"SpeedLimitController", PERSISTENT | FROGPILOT_CONTROLS}, + {"SpeedLimitSources", PERSISTENT | FROGPILOT_VISUALS}, + {"StandardFollow", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandardJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandardJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandardJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandardJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandardJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandardPersonalityProfile", PERSISTENT | FROGPILOT_CONTROLS}, + {"StandbyMode", PERSISTENT | FROGPILOT_VISUALS}, + {"StartupMessageBottom", PERSISTENT | FROGPILOT_VISUALS}, + {"StartupMessageTop", PERSISTENT | FROGPILOT_VISUALS}, + {"StaticPedalsOnUI", PERSISTENT | FROGPILOT_VISUALS}, + {"SteerFriction", PERSISTENT | FROGPILOT_CONTROLS}, + {"SteerFrictionStock", PERSISTENT}, + {"SteerLatAccel", PERSISTENT | FROGPILOT_CONTROLS}, + {"SteerLatAccelStock", PERSISTENT}, + {"SteerKP", PERSISTENT | FROGPILOT_CONTROLS}, + {"SteerKPStock", PERSISTENT}, + {"SteerRatio", PERSISTENT | FROGPILOT_CONTROLS}, + {"SteerRatioStock", PERSISTENT}, + {"StoppedTimer", PERSISTENT | FROGPILOT_VISUALS}, + {"TacoTune", PERSISTENT | FROGPILOT_CONTROLS}, + {"TestingSound", CLEAR_ON_MANAGER_START}, + {"TetheringEnabled", PERSISTENT | FROGPILOT_OTHER}, + {"ThemeDownloadProgress", CLEAR_ON_MANAGER_START}, + {"ToyotaDoors", PERSISTENT | FROGPILOT_VEHICLES}, + {"TrafficFollow", PERSISTENT | FROGPILOT_CONTROLS}, + {"TrafficJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"TrafficJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, + {"TrafficJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, + {"TrafficJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, + {"TrafficJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, + {"TrafficPersonalityProfile", PERSISTENT | FROGPILOT_CONTROLS}, + {"TuningInfo", PERSISTENT | FROGPILOT_VISUALS}, + {"TuningLevel", PERSISTENT}, + {"TuningLevelConfirmed", PERSISTENT}, + {"TurnAggressiveness", PERSISTENT | FROGPILOT_CONTROLS}, + {"TurnDesires", PERSISTENT | FROGPILOT_CONTROLS}, + {"UnlimitedLength", PERSISTENT | FROGPILOT_VISUALS}, + {"UnlockDoors", PERSISTENT | FROGPILOT_VEHICLES}, + {"Updated", PERSISTENT}, + {"UpdateWheelImage", CLEAR_ON_MANAGER_START}, + {"UserCurvature", PERSISTENT}, + {"UseSI", PERSISTENT | FROGPILOT_VISUALS}, + {"UseStockColors", CLEAR_ON_MANAGER_START}, + {"UseVienna", PERSISTENT | FROGPILOT_CONTROLS}, + {"VisionTurnControl", PERSISTENT | FROGPILOT_CONTROLS}, + {"VoltSNG", PERSISTENT | FROGPILOT_VEHICLES}, + {"WarningImmediateVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"WarningSoftVolume", PERSISTENT | FROGPILOT_VISUALS}, + {"WD40Drives", PERSISTENT | FROGPILOT_CONTROLS}, + {"WD40Score", PERSISTENT | FROGPILOT_CONTROLS}, + {"WheelIcon", PERSISTENT | FROGPILOT_VISUALS}, + {"WheelSpeed", PERSISTENT | FROGPILOT_VISUALS}, + {"WheelToDownload", CLEAR_ON_MANAGER_START}, }; } // namespace diff --git a/common/params.h b/common/params.h index d726a6185..4ca716a41 100644 --- a/common/params.h +++ b/common/params.h @@ -16,6 +16,11 @@ enum ParamKeyType { CLEAR_ON_OFFROAD_TRANSITION = 0x10, DONT_LOG = 0x20, DEVELOPMENT_ONLY = 0x40, + FROGPILOT_CONTROLS = 0x80, + FROGPILOT_VISUALS = 0x100, + FROGPILOT_OTHER = 0x400, + FROGPILOT_TRACKING = 0x800, + FROGPILOT_VEHICLES = 0x1000, ALL = 0xFFFFFFFF }; @@ -43,6 +48,14 @@ public: inline bool getBool(const std::string &key, bool block = false) { return get(key, block) == "1"; } + inline int getInt(const std::string &key, bool block = false) { + std::string value = get(key, block); + return value.empty() ? 0 : std::stoi(value); + } + inline float getFloat(const std::string &key, bool block = false) { + std::string value = get(key, block); + return value.empty() ? 0.0 : std::stof(value); + } std::map readAll(); // helpers for writing values @@ -53,10 +66,22 @@ public: inline int putBool(const std::string &key, bool val) { return put(key.c_str(), val ? "1" : "0", 1); } + inline int putInt(const std::string &key, int val) { + return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size()); + } + inline int putFloat(const std::string &key, float val) { + return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size()); + } void putNonBlocking(const std::string &key, const std::string &val); inline void putBoolNonBlocking(const std::string &key, bool val) { putNonBlocking(key, val ? "1" : "0"); } + inline void putIntNonBlocking(const std::string &key, int val) { + putNonBlocking(key, std::to_string(val)); + } + inline void putFloatNonBlocking(const std::string &key, float val) { + putNonBlocking(key, std::to_string(val)); + } private: void asyncWriteThread(); diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 535514e52..c8dc65855 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -11,21 +11,33 @@ cdef extern from "common/params.h": CLEAR_ON_ONROAD_TRANSITION CLEAR_ON_OFFROAD_TRANSITION DEVELOPMENT_ONLY + FROGPILOT_CONTROLS + FROGPILOT_OTHER + FROGPILOT_TRACKING + FROGPILOT_VEHICLES + FROGPILOT_VISUALS ALL cdef cppclass c_Params "Params": c_Params(string) except + nogil string get(string, bool) nogil bool getBool(string, bool) nogil + int getInt(string, bool) nogil + float getFloat(string, bool) nogil int remove(string) nogil int put(string, string) nogil void putNonBlocking(string, string) nogil void putBoolNonBlocking(string, bool) nogil + void putIntNonBlocking(string, int) nogil + void putFloatNonBlocking(string, float) nogil int putBool(string, bool) nogil + int putInt(string, int) nogil + int putFloat(string, float) nogil bool checkKey(string) nogil string getParamPath(string) nogil void clearAll(ParamKeyType) vector[string] allKeys() + ParamKeyType getKeyType(string) nogil def ensure_bytes(v): @@ -77,6 +89,20 @@ cdef class Params: r = self.p.getBool(k, block) return r + def get_int(self, key, bool block=False): + cdef string k = self.check_key(key) + cdef int r + with nogil: + r = self.p.getInt(k, block) + return r + + def get_float(self, key, bool block=False): + cdef string k = self.check_key(key) + cdef float r + with nogil: + r = self.p.getFloat(k, block) + return r + def put(self, key, dat): """ Warning: This function blocks until the param is written to disk! @@ -94,6 +120,16 @@ cdef class Params: with nogil: self.p.putBool(k, val) + def put_int(self, key, int val): + cdef string k = self.check_key(key) + with nogil: + self.p.putInt(k, val) + + def put_float(self, key, float val): + cdef string k = self.check_key(key) + with nogil: + self.p.putFloat(k, val) + def put_nonblocking(self, key, dat): cdef string k = self.check_key(key) cdef string dat_bytes = ensure_bytes(dat) @@ -105,6 +141,16 @@ cdef class Params: with nogil: self.p.putBoolNonBlocking(k, val) + def put_int_nonblocking(self, key, int val): + cdef string k = self.check_key(key) + with nogil: + self.p.putIntNonBlocking(k, val) + + def put_float_nonblocking(self, key, float val): + cdef string k = self.check_key(key) + with nogil: + self.p.putFloatNonBlocking(k, val) + def remove(self, key): cdef string k = self.check_key(key) with nogil: @@ -116,3 +162,7 @@ cdef class Params: def all_keys(self): return self.p.allKeys() + + def get_key_type(self, key): + cdef string k = self.check_key(key) + return self.p.getKeyType(k) diff --git a/common/util.cc b/common/util.cc index 5ffd6e409..4e766c925 100644 --- a/common/util.cc +++ b/common/util.cc @@ -271,4 +271,18 @@ std::string check_output(const std::string& command) { return result; } +bool system_time_valid() { + // Default to March 30, 2024 + tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 2, .tm_mday = 30}; + + time_t min_date = mktime(&min_tm); + + struct stat st; + if (stat("/lib/systemd/systemd", &st) == 0) { + min_date = std::max(min_date, st.st_mtime + 86400); // Add 1 day (86400 seconds) + } + + return time(nullptr) > min_date; +} + } // namespace util diff --git a/common/util.h b/common/util.h index 186873ac2..a8a5adf5e 100644 --- a/common/util.h +++ b/common/util.h @@ -36,6 +36,9 @@ const double MS_TO_KPH = 3.6; const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE; const double METER_TO_MILE = KM_TO_MILE / 1000.0; const double METER_TO_FOOT = 3.28084; +const double FOOT_TO_METER = 1. / METER_TO_FOOT; +const double CM_TO_INCH = 1. / 2.54; +const double INCH_TO_CM = 1. / CM_TO_INCH; namespace util { @@ -93,6 +96,8 @@ bool create_directories(const std::string &dir, mode_t mode); std::string check_output(const std::string& command); +bool system_time_valid(); + inline void sleep_for(const int milliseconds) { if (milliseconds > 0) { std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds)); diff --git a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc index d8f4c6623..98f290168 100644 --- a/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc +++ b/opendbc/chrysler_pacifica_2017_hybrid_generated.dbc @@ -312,6 +312,7 @@ BO_ 764 ACCEL_RELATED_2FC: 8 XXX BO_ 816 TRACTION_BUTTON: 8 XXX SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX + SG_ TOGGLE_LKAS : 53|1@0+ (1,0) [0|1] "" XXX BO_ 878 ACCEL_RELATED_36E: 8 XXX SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc/chrysler_ram_hd_generated.dbc b/opendbc/chrysler_ram_hd_generated.dbc index 697c3bf91..19b57434f 100644 --- a/opendbc/chrysler_ram_hd_generated.dbc +++ b/opendbc/chrysler_ram_hd_generated.dbc @@ -90,9 +90,11 @@ BO_ 500 DAS_3: 8 XXX SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX - SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX + SG_ STS : 46|2@1+ (1,0) [0|0] "" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX + SG_ BRAKE_BOOL_1 : 36|1@0+ (1,0) [0|3] "" XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX @@ -137,6 +139,18 @@ BO_ 570 CRUISE_BUTTONS: 3 XXX SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX +BO_ 571 CRUISE_BUTTONS_ALT: 3 XXX + SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX + SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX + SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX + SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX + BO_ 625 DAS_5: 8 XXX SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] "" XXX SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] "" XXX @@ -207,3 +221,9 @@ BO_ 630 LKAS_COMMAND: 8 XXX SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX +BO_ 650 Center_Stack_2: 8 XXX + SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX + +BO_ 816 Center_Stack_1: 8 XXX + SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX + SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc index e21f7426b..a8ff91077 100644 --- a/opendbc/generator/toyota/_toyota_2017.dbc +++ b/opendbc/generator/toyota/_toyota_2017.dbc @@ -45,9 +45,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -61,8 +76,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -71,6 +86,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -91,9 +107,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -147,6 +164,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -165,12 +207,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -272,6 +321,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -350,9 +411,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -381,13 +444,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -400,6 +480,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -412,6 +494,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -512,4 +595,5 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc index 1c78dd7b0..8de42d598 100644 --- a/opendbc/gm_global_a_powertrain_generated.dbc +++ b/opendbc/gm_global_a_powertrain_generated.dbc @@ -222,7 +222,7 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO - SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO + SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO BO_ 717 ASCM_2CD: 5 K124_ASCM diff --git a/opendbc/gm_global_a_powertrain_volt.dbc b/opendbc/gm_global_a_powertrain_volt.dbc index 98e7cfbd8..9361c7569 100644 --- a/opendbc/gm_global_a_powertrain_volt.dbc +++ b/opendbc/gm_global_a_powertrain_volt.dbc @@ -188,6 +188,9 @@ BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX +BO_ 500 SportMode: 6 XXX + SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX + BO_ 501 ECMPRDNL2: 8 K20_ECM SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO diff --git a/opendbc/hyundai_canfd.dbc b/opendbc/hyundai_canfd.dbc index 1ef67c044..00991a714 100644 --- a/opendbc/hyundai_canfd.dbc +++ b/opendbc/hyundai_canfd.dbc @@ -316,7 +316,7 @@ BO_ 441 CAM_0x1b9: 32 CAMERA BO_ 463 CRUISE_BUTTONS: 8 XXX SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX - SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX + SG_ LFA_BTN : 23|1@1+ (1,0) [0|1] "" XXX SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc index fc4d14f4f..f7ecd38f5 100644 --- a/opendbc/hyundai_kia_generic.dbc +++ b/opendbc/hyundai_kia_generic.dbc @@ -1654,8 +1654,8 @@ CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD"; VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P"; VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled"; -VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; -VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; +VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 4 "S" 0 "P"; +VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 4 "S" 0 "P"; VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled"; VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB"; VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue"; diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc index dfb69df49..2b74b4651 100644 --- a/opendbc/toyota_new_mc_pt_generated.dbc +++ b/opendbc/toyota_new_mc_pt_generated.dbc @@ -93,9 +93,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -109,8 +124,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -119,6 +134,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -139,9 +155,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -180,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU BO_ 705 GAS_PEDAL: 8 XXX SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX + SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS + SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM BO_ 740 STEERING_LKA: 5 XXX SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX @@ -195,6 +216,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -213,12 +259,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -320,6 +373,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -398,9 +463,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -429,13 +496,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -448,6 +532,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -460,6 +546,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -560,6 +647,7 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; CM_ "toyota_new_mc_pt.dbc starts here"; diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc index efbcccc86..ef60ba931 100644 --- a/opendbc/toyota_nodsu_pt_generated.dbc +++ b/opendbc/toyota_nodsu_pt_generated.dbc @@ -93,9 +93,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -109,8 +124,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -119,6 +134,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -139,9 +155,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -180,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU BO_ 705 GAS_PEDAL: 8 XXX SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX + SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS + SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM BO_ 740 STEERING_LKA: 5 XXX SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX @@ -195,6 +216,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -213,12 +259,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -249,6 +302,7 @@ BO_ 956 GEAR_PACKET: 8 XXX SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX + SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX @@ -320,6 +374,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -398,9 +464,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -429,13 +497,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -448,6 +533,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -460,6 +547,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -531,6 +619,7 @@ VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; VAL_ 956 ECON_ON 0 "off" 1 "on"; +VAL_ 956 SPORT_ON_2 0 "off" 1 "on"; VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; @@ -560,6 +649,7 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; CM_ "toyota_nodsu_pt.dbc starts here"; diff --git a/opendbc/toyota_rav4_prime_generated.dbc b/opendbc/toyota_rav4_prime_generated.dbc new file mode 100644 index 000000000..c2477c151 --- /dev/null +++ b/opendbc/toyota_rav4_prime_generated.dbc @@ -0,0 +1,526 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT"; + + +CM_ "Imported file _community.dbc starts here"; +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + +BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + +BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + +VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + +BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX + SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX + +CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; + +BO_ 767 SDSU: 8 XXX + SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX + +CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu"; +CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; + +VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "toyota_rav4_prime.dbc starts here"; +VERSION "" + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS CGW BGM + +BO_ 15 SECOC_SYNCHRONIZATION: 8 XXX + SG_ TRIP_CNT : 7|16@0+ (1,0) [0|65535] "" XXX + SG_ RESET_CNT : 23|20@0+ (1,0) [0|65535] "" XXX + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX + +BO_ 257 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_PRESSURE_1 : 31|8@0+ (1,0) [0|15] "" XXX + SG_ BRAKE_PRESSURE_2 : 61|6@0+ (1,0) [0|63] "" XXX + +BO_ 278 GAS_PEDAL: 8 XXX + SG_ GAS_PEDAL_ACC : 7|8@0+ (0.005,0) [0|255] "" XXX + SG_ GAS_PEDAL_USER : 15|8@0+ (0.005,0) [0|255] "" XXX + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 295 GEAR_PACKET_HYBRID: 8 XXX + SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX + SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 305 STEERING_LTA_2: 8 XXX + SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_REQUEST : 3|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX + SG_ STEER_ANGLE_CMD : 23|16@0- (0.0573,0) [0|65535] "" XXX + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 353 DSU_SPEED: 7 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX + +BO_ 374 PCM_CRUISE: 8 XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_STATE : 31|4@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 375 PCM_CRUISE_3: 8 XXX + SG_ NEW_SIGNAL_1 : 7|16@0- (1,0) [0|65535] "" XXX + SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_6 : 19|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_7 : 21|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_5 : 22|1@0+ (1,0) [0|1] "" XXX + SG_ GAS_RELEASED : 30|1@0+ (1,0) [0|1] "" XXX + SG_ NEW_SIGNAL_2 : 31|1@0+ (1,0) [0|1] "" XXX + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 387 ACC_CONTROL_2: 8 XXX + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 401 STEERING_LTA: 8 XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX + SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX + SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX + SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX + SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX + SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX + SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX + SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX + SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 418 CRUISE_RELATED: 8 XXX + SG_ CRUISE_ACTIVE : 7|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX + SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX + SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 610 EPS_STATUS: 8 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 8 DSU + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 740 STEERING_LKA: 8 XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU + SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX + SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX + SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX + SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX + SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX + SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX + SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX + +BO_ 881 LTA_RELATED: 8 FCM + SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX + SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX + SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX + SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX + SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX + SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX + SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX + SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX + +BO_ 1014 BSM: 8 XXX + SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX + SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX + SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX + SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX + SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX + SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX + +BO_ 1020 SOLAR_SENSOR: 8 XXX + SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX + +BO_ 1041 PCS_HUD: 8 DSU + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX + SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX + SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX + SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 DSU + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX + SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX + SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX + SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX + SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX + SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1044 AUTO_HIGH_BEAM: 8 FCM + SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX + SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX + SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX + SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX + SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX + SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX + SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX + +BO_ 1553 UI_SETTING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + +BO_ 1556 BLINKERS_STATE: 8 XXX + SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + +BO_ 1568 BODY_CONTROL_STATE: 8 XXX + SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX + SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX + SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX + SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 1571 CERTIFICATION_ECU: 8 CGW + SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX + SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX + +BO_ 1592 DOOR_LOCKS: 8 XXX + SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX + SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX + +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 305 STEER_ANGLE_CMD "Used in place of STEERING_LTA.STEER_ANGLE_CMD on SecOC cars"; +CM_ SG_ 387 ACCEL_CMD "Used in place of ACC_CONTROL.ACCEL_CMD on SecOC cars"; +CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist"; +CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; +CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; +CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA"; +CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)"; +CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel"; +CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP"; +CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override"; +CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; +CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; +CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; +CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; +CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; +CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; +CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; +CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; +CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; +CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; +CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far"; +CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE"; +CM_ SG_ 881 TURN_SIGNALS "flipped on some cars"; +CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars"; +CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST"; +CM_ SG_ 881 UNKNOWN "related to steering wheel angle"; +CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal"; +CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility"; +CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; +CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility"; +CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; +CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; +CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; +CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; +CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; +CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; +CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; +CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; +CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; +CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; +CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; +CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages"; +CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; +CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; +CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; +CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; +CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; +CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; +CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; +CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; +CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; +CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; +CM_ SG_ 1552 UI_SPEED "Does not appear to match dash"; +CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; +CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; +CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; +CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; +CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; +CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; +VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; +VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX"; +VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby"; +VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; +VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; +VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; +VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; +VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; +VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; +VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; +VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok"; +VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; +VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; +VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; +VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; +VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; +VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; +VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc index d95cfbe69..7f99d3873 100644 --- a/opendbc/toyota_tnga_k_pt_generated.dbc +++ b/opendbc/toyota_tnga_k_pt_generated.dbc @@ -93,9 +93,24 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX +BO_ 119 ENG2F41: 6 CGW + SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX + SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX + SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX + +BO_ 120 ENG2F42: 4 CGW + SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X + SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX + SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX + BO_ 166 BRAKE: 8 XXX SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX BO_ 170 WHEEL_SPEEDS: 8 XXX SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX @@ -109,8 +124,8 @@ BO_ 180 SPEED: 8 XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX + SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX + SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX @@ -119,6 +134,7 @@ BO_ 353 DSU_SPEED: 7 XXX BO_ 452 ENGINE_RPM: 8 CGW SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS + SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX BO_ 466 PCM_CRUISE: 8 XXX SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX @@ -139,9 +155,10 @@ BO_ 467 PCM_CRUISE_2: 8 XXX SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "m/s^2" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s^2" XXX +BO_ 552 VSC1S29: 4 CGW + SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 + SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 + SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 BO_ 560 BRAKE_2: 7 XXX SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX @@ -180,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU BO_ 705 GAS_PEDAL: 8 XXX SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX + SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX + SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS + SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX + SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM + SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM BO_ 740 STEERING_LKA: 5 XXX SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX @@ -195,6 +216,31 @@ BO_ 742 LEAD_INFO: 8 DSU SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU +BO_ 800 VSC1S07: 8 CGW + SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 + SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 + SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 + SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 + SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 + SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 + SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM + SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 + SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 + SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 + SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 + SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 + SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM + BO_ 835 ACC_CONTROL: 8 DSU SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX @@ -213,12 +259,19 @@ BO_ 835 ACC_CONTROL: 8 DSU SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX BO_ 836 PRE_COLLISION_2: 8 DSU + SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX + SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM + SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM + SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX + SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX + SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX BO_ 865 CLUTCH: 8 XXX SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX BO_ 869 DSU_CRUISE : 7 DSU SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX @@ -320,6 +373,18 @@ BO_ 1044 AUTO_HIGH_BEAM: 8 FCM SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX +BO_ 1056 VSC1S08: 8 CGW + SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV + SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS + SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS + SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS + SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV + SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV + BO_ 1083 AUTOPARK_STATUS: 8 IPAS SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX @@ -398,9 +463,11 @@ BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX BO_ 1553 UI_SETTING: 8 XXX SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX + BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX BO_ 1568 BODY_CONTROL_STATE: 8 XXX SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX @@ -429,13 +496,30 @@ BO_ 1592 DOOR_LOCKS: 8 XXX SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX +BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX + SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM + SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX + SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX + SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX + SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX + SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX + SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX + SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX + CM_ SG_ 36 YAW_RATE "verify"; CM_ SG_ 36 ACCEL_X "x-axis accel"; CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; +CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; +CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; @@ -448,6 +532,8 @@ CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; +CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; +CM_ SG_ 800 ACCEL "filtered ego acceleration"; CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; @@ -460,6 +546,7 @@ CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; +CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; @@ -560,6 +647,7 @@ VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; VAL_ 1553 UNITS 1 "km" 2 "miles"; VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; CM_ "toyota_tnga_k_pt.dbc starts here"; diff --git a/panda/board/safety.h b/panda/board/safety.h index 1516fac84..24ff77907 100644 --- a/panda/board/safety.h +++ b/panda/board/safety.h @@ -552,7 +552,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi bool violation = false; uint32_t ts = microsecond_timer_get(); + bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); if (controls_allowed) { + // acc main must be on if controls are allowed + acc_main_on = controls_allowed; + } + + if (controls_allowed || aol_allowed) { // *** global torque limit check *** violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer); @@ -579,7 +585,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi } // no torque if controls is not allowed - if (!controls_allowed && (desired_torque != 0)) { + if (!(controls_allowed || aol_allowed) && (desired_torque != 0)) { violation = true; } @@ -621,7 +627,7 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi } // reset to 0 if either controls is not allowed or there's a violation - if (violation || !controls_allowed) { + if (violation || !(controls_allowed || aol_allowed)) { valid_steer_req_count = 0; invalid_steer_req_count = 0; desired_torque_last = 0; @@ -636,8 +642,13 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi // Safety checks for angle-based steering commands bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) { bool violation = false; + bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); + if (controls_allowed) { + // acc main must be on if controls are allowed + acc_main_on = controls_allowed; + } - if (controls_allowed && steer_control_enabled) { + if ((controls_allowed || aol_allowed) && steer_control_enabled) { // convert floating point angle rate limits to integers in the scale of the desired angle on CAN, // add 1 to not false trigger the violation. also fudge the speed by 1 m/s so rate limits are // always slightly above openpilot's in case we read an updated speed in between angle commands @@ -680,7 +691,7 @@ bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const } // No angle control allowed when controls are not allowed - violation |= !controls_allowed && steer_control_enabled; + violation |= !(controls_allowed || aol_allowed) && steer_control_enabled; return violation; } diff --git a/panda/board/safety/safety_chrysler.h b/panda/board/safety/safety_chrysler.h index be27832c9..a1934a6c2 100644 --- a/panda/board/safety/safety_chrysler.h +++ b/panda/board/safety/safety_chrysler.h @@ -37,6 +37,7 @@ typedef struct { const int DAS_6; const int LKAS_COMMAND; const int CRUISE_BUTTONS; + const int CRUISE_BUTTONS_ALT; } ChryslerAddrs; // CAN messages for Chrysler/Jeep platforms @@ -49,6 +50,7 @@ const ChryslerAddrs CHRYSLER_ADDRS = { .DAS_6 = 0x2A6, // LKAS HUD and auto headlight control from DASM .LKAS_COMMAND = 0x292, // LKAS controls from DASM .CRUISE_BUTTONS = 0x23B, // Cruise control buttons + .CRUISE_BUTTONS_ALT = 0x23B, // Cruise control buttons }; // CAN messages for the 5th gen RAM DT platform @@ -61,6 +63,7 @@ const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = { .DAS_6 = 0xFA, // LKAS HUD and auto headlight control from DASM .LKAS_COMMAND = 0xA6, // LKAS controls from DASM .CRUISE_BUTTONS = 0xB1, // Cruise control buttons + .CRUISE_BUTTONS_ALT = 0xB1, // Cruise control buttons }; // CAN messages for the 5th gen RAM HD platform @@ -73,6 +76,7 @@ const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = { .DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM .LKAS_COMMAND = 0x276, // LKAS controls from DASM .CRUISE_BUTTONS = 0x23A, // Cruise control buttons + .CRUISE_BUTTONS_ALT = 0x23B, // Cruise control buttons }; const CanMsg CHRYSLER_TX_MSGS[] = { @@ -83,12 +87,14 @@ const CanMsg CHRYSLER_TX_MSGS[] = { const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = { {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3}, + {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS_ALT, 2, 3}, {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8}, {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8}, }; const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = { {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3}, + {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT, 2, 3}, {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8}, {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8}, }; @@ -186,6 +192,7 @@ static void chrysler_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2; if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) { + acc_main_on = GET_BIT(to_push, 20U); bool cruise_engaged = GET_BIT(to_push, 21U); pcm_cruise_check(cruise_engaged); } @@ -234,7 +241,7 @@ static bool chrysler_tx_hook(const CANPacket_t *to_send) { } // FORCE CANCEL: only the cancel button press is allowed - if (addr == chrysler_addrs->CRUISE_BUTTONS) { + if ((addr == chrysler_addrs->CRUISE_BUTTONS) || (addr == CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT)) { const bool is_cancel = GET_BYTE(to_send, 0) == 1U; const bool is_resume = GET_BYTE(to_send, 0) == 0x10U; const bool allowed = is_cancel || (is_resume && controls_allowed); diff --git a/panda/board/safety/safety_ford.h b/panda/board/safety/safety_ford.h index d6ee20803..e17cdf3cb 100644 --- a/panda/board/safety/safety_ford.h +++ b/panda/board/safety/safety_ford.h @@ -245,6 +245,7 @@ static void ford_rx_hook(const CANPacket_t *to_push) { // Signal: CcStat_D_Actl unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U; + acc_main_on = (cruise_state == 3U) ||(cruise_state == 4U) || (cruise_state == 5U); bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h index 214958bac..c7ae19b7d 100644 --- a/panda/board/safety/safety_gm.h +++ b/panda/board/safety/safety_gm.h @@ -10,16 +10,30 @@ const SteeringLimits GM_STEERING_LIMITS = { }; const LongitudinalLimits GM_ASCM_LONG_LIMITS = { - .max_gas = 3072, - .min_gas = 1404, - .inactive_gas = 1404, + .max_gas = 7168, + .min_gas = 5500, + .inactive_gas = 5500, + .max_brake = 400, +}; + +const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = { + .max_gas = 8191, + .min_gas = 5500, + .inactive_gas = 5500, .max_brake = 400, }; const LongitudinalLimits GM_CAM_LONG_LIMITS = { - .max_gas = 3400, - .min_gas = 1514, - .inactive_gas = 1554, + .max_gas = 7496, + .min_gas = 5610, + .inactive_gas = 5650, + .max_brake = 400, +}; + +const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = { + .max_gas = 8848, + .min_gas = 5610, + .inactive_gas = 5650, .max_brake = 400, }; @@ -29,7 +43,7 @@ const int GM_STANDSTILL_THRSLD = 10; // 0.311kph // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state -const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (610 + 306.25) / 2 ratio between offset and gain from dbc file +const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (675 + 355) / 2 ratio between offset and gain from dbc file #define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus @@ -143,7 +157,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) { } if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) { - brake_pressed = GET_BIT(to_push, 40U); + brake_pressed = GET_BIT(to_push, 40U) != 0U; + } + + if (addr == 0xC9) { + acc_main_on = GET_BIT(to_push, 29U) != 0U; } if (addr == 0x1C4) { @@ -225,7 +243,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) { // GAS/REGEN: safety check if (addr == 0x2CB) { bool apply = GET_BIT(to_send, 0U); - int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3); + int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3); bool violation = false; // Allow apply bit in pre-enabled and overriding states @@ -282,6 +300,8 @@ static int gm_fwd_hook(int bus_num, int addr) { } static safety_config gm_init(uint16_t param) { + sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; + if GET_FLAG(param, GM_PARAM_HW_CAM) { gm_hw = GM_CAM; } else if GET_FLAG(param, GM_PARAM_HW_SDGM) { @@ -293,9 +313,17 @@ static safety_config gm_init(uint16_t param) { gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG); if (gm_hw == GM_ASCM || gm_force_ascm) { - gm_long_limits = &GM_ASCM_LONG_LIMITS; + if (sport_mode) { + gm_long_limits = &GM_ASCM_LONG_LIMITS_SPORT; + } else { + gm_long_limits = &GM_ASCM_LONG_LIMITS; + } } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) { - gm_long_limits = &GM_CAM_LONG_LIMITS; + if (sport_mode) { + gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT; + } else { + gm_long_limits = &GM_CAM_LONG_LIMITS; + } } else { } diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h index 630f6d731..a0b3cece9 100644 --- a/panda/board/safety/safety_honda.h +++ b/panda/board/safety/safety_honda.h @@ -1,9 +1,16 @@ const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}}; +const CanMsg HONDA_N_INTERCEPTOR_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}}; const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes const CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}}; // Bosch radarless const CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}}; // Bosch radarless w/ gas and brakes +// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches +// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state +// Threshold calculated from DBC gains: round(((83.3 / 0.253984064) + (83.3 / 0.126992032)) / 2) = 492 +const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 492; +#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks + const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = { .max_accel = 200, // accel is used for brakes .min_accel = -350, @@ -12,6 +19,14 @@ const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = { .inactive_gas = -30000, }; +const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS_SPORT = { + .max_accel = 400, // accel is used for brakes + .min_accel = -350, + + .max_gas = 2000, + .inactive_gas = -30000, +}; + const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = { .max_gas = 198, // 0xc6 .max_brake = 255, @@ -40,6 +55,11 @@ RxCheck honda_common_rx_checks[] = { HONDA_COMMON_RX_CHECKS(0) }; +RxCheck honda_common_interceptor_rx_checks[] = { + HONDA_COMMON_RX_CHECKS(0) + {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, +}; + RxCheck honda_common_alt_brake_rx_checks[] = { HONDA_COMMON_RX_CHECKS(0) HONDA_ALT_BRAKE_ADDR_CHECK(0) @@ -50,6 +70,11 @@ RxCheck honda_nidec_alt_rx_checks[] = { HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0) }; +RxCheck honda_nidec_alt_interceptor_rx_checks[] = { + HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0) + {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, +}; + // Bosch has pt on bus 1, verified 0x1A6 does not exist RxCheck honda_bosch_rx_checks[] = { HONDA_COMMON_RX_CHECKS(1) @@ -64,6 +89,8 @@ const uint16_t HONDA_PARAM_ALT_BRAKE = 1; const uint16_t HONDA_PARAM_BOSCH_LONG = 2; const uint16_t HONDA_PARAM_NIDEC_ALT = 4; const uint16_t HONDA_PARAM_RADARLESS = 8; +const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16; +const uint16_t HONDA_PARAM_CLARITY = 32; enum { HONDA_BTN_NONE = 0, @@ -79,6 +106,7 @@ bool honda_alt_brake_msg = false; bool honda_fwd_brake = false; bool honda_bosch_long = false; bool honda_bosch_radarless = false; +bool honda_clarity_brake_msg = false; typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw; HondaHw honda_hw = HONDA_NIDEC; @@ -110,15 +138,26 @@ static uint32_t honda_compute_checksum(const CANPacket_t *to_push) { } static uint8_t honda_get_counter(const CANPacket_t *to_push) { - int counter_byte = GET_LEN(to_push) - 1U; - return (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U; + int addr = GET_ADDR(to_push); + + uint8_t cnt = 0U; + if (addr == 0x201) { + // Signal: COUNTER_PEDAL + cnt = GET_BYTE(to_push, 4) & 0x0FU; + } else { + int counter_byte = GET_LEN(to_push) - 1U; + cnt = (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U; + } + return cnt; } static void honda_rx_hook(const CANPacket_t *to_push) { - const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || (honda_hw == HONDA_NIDEC); + const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || \ + ((honda_hw == HONDA_NIDEC) && !enable_gas_interceptor); int pt_bus = honda_get_pt_bus(); int addr = GET_ADDR(to_push); + int len = GET_LEN(to_push); int bus = GET_BUS(to_push); // sample speed @@ -190,8 +229,17 @@ static void honda_rx_hook(const CANPacket_t *to_push) { } } - if (addr == 0x17C) { - gas_pressed = GET_BYTE(to_push, 0) != 0U; + // length check because bosch hardware also uses this id (0x201 w/ len = 8) + if ((addr == 0x201) && (len == 6) && enable_gas_interceptor) { + int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push); + gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD; + gas_interceptor_prev = gas_interceptor; + } + + if (!enable_gas_interceptor) { + if (addr == 0x17C) { + gas_pressed = GET_BYTE(to_push, 0) != 0U; + } } // disable stock Honda AEB in alternative experience @@ -200,6 +248,9 @@ static void honda_rx_hook(const CANPacket_t *to_push) { bool honda_stock_aeb = GET_BIT(to_push, 29U); int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6); + if (honda_clarity_brake_msg) { + honda_stock_brake = (GET_BYTE(to_push, 6) << 2) + ((GET_BYTE(to_push, 7) >> 6) & 0x3U); + } // Forward AEB when stock braking is higher than openpilot braking // only stop forwarding when AEB event is over if (!honda_stock_aeb) { @@ -233,6 +284,8 @@ static void honda_rx_hook(const CANPacket_t *to_push) { } static bool honda_tx_hook(const CANPacket_t *to_send) { + sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; + bool tx = true; int addr = GET_ADDR(to_send); int bus = GET_BUS(to_send); @@ -256,6 +309,9 @@ static bool honda_tx_hook(const CANPacket_t *to_send) { // BRAKE: safety check (nidec) if ((addr == 0x1FA) && (bus == bus_pt)) { honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U); + if (honda_clarity_brake_msg) { + honda_brake = (GET_BYTE(to_send, 6) << 2) + ((GET_BYTE(to_send, 7) >> 6) & 0x3U); + } if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) { tx = false; } @@ -273,8 +329,13 @@ static bool honda_tx_hook(const CANPacket_t *to_send) { gas = to_signed(gas, 16); bool violation = false; - violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS); - violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS); + if (sport_mode) { + violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT); + violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS_SPORT); + } else { + violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS); + violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS); + } if (violation) { tx = false; } @@ -286,7 +347,11 @@ static bool honda_tx_hook(const CANPacket_t *to_send) { accel = to_signed(accel, 12); bool violation = false; - violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS); + if (sport_mode) { + violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT); + } else { + violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS); + } if (violation) { tx = false; } @@ -294,7 +359,8 @@ static bool honda_tx_hook(const CANPacket_t *to_send) { // STEER: safety check if ((addr == 0xE4) || (addr == 0x194)) { - if (!controls_allowed) { + bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); + if (!(controls_allowed || aol_allowed)) { bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1); if (steer_applied) { tx = false; @@ -309,6 +375,13 @@ static bool honda_tx_hook(const CANPacket_t *to_send) { } } + // GAS: safety check (interceptor) + if (addr == 0x200) { + if (longitudinal_interceptor_checks(to_send)) { + tx = false; + } + } + // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW // ensuring that only the cancel button press is sent (VAL 2) when controls are off. // This avoids unintended engagements while still allowing resume spam @@ -336,18 +409,26 @@ static safety_config honda_nidec_init(uint16_t param) { honda_alt_brake_msg = false; honda_bosch_long = false; honda_bosch_radarless = false; + enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR); + honda_clarity_brake_msg = GET_FLAG(param, HONDA_PARAM_CLARITY); safety_config ret; bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT); if (enable_nidec_alt) { - SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret); + enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \ + SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret); } else { - SET_RX_CHECKS(honda_common_rx_checks, ret); + enable_gas_interceptor ? SET_RX_CHECKS(honda_common_interceptor_rx_checks, ret) : \ + SET_RX_CHECKS(honda_common_rx_checks, ret); } - SET_TX_MSGS(HONDA_N_TX_MSGS, ret); + if (enable_gas_interceptor) { + SET_TX_MSGS(HONDA_N_INTERCEPTOR_TX_MSGS, ret); + } else { + SET_TX_MSGS(HONDA_N_TX_MSGS, ret); + } return ret; } diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h index 5a324bff2..a849a87e1 100644 --- a/panda/board/safety/safety_hyundai.h +++ b/panda/board/safety/safety_hyundai.h @@ -25,6 +25,11 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = { .min_accel = -350, // 1/100 m/s2 }; +const LongitudinalLimits HYUNDAI_LONG_LIMITS_SPORT = { + .max_accel = 400, // 1/100 m/s2 + .min_accel = -350, // 1/100 m/s2 +}; + const CanMsg HYUNDAI_TX_MSGS[] = { {0x340, 0, 8}, // LKAS11 Bus 0 {0x4F1, 0, 4}, // CLU11 Bus 0 @@ -215,6 +220,8 @@ static void hyundai_rx_hook(const CANPacket_t *to_push) { } static bool hyundai_tx_hook(const CANPacket_t *to_send) { + sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; + bool tx = true; int addr = GET_ADDR(to_send); @@ -239,8 +246,13 @@ static bool hyundai_tx_hook(const CANPacket_t *to_send) { bool violation = false; - violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS); - violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS); + if (sport_mode) { + violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS_SPORT); + violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS_SPORT); + } else { + violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS); + violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS); + } violation |= (aeb_decel_cmd != 0); violation |= aeb_req; diff --git a/panda/board/safety/safety_hyundai_common.h b/panda/board/safety/safety_hyundai_common.h index 54ea0f024..b4cf2b540 100644 --- a/panda/board/safety/safety_hyundai_common.h +++ b/panda/board/safety/safety_hyundai_common.h @@ -63,6 +63,13 @@ void hyundai_common_cruise_state_check(const bool cruise_engaged) { } void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) { + if (main_button && main_button != cruise_main_prev) { + if (acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL)) { + controls_allowed = false; + } + acc_main_on = !acc_main_on; + } + cruise_main_prev = main_button; if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) { hyundai_last_button_interaction = 0U; } else { diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h index ea4ce92d0..19e2dd120 100644 --- a/panda/board/safety/safety_mazda.h +++ b/panda/board/safety/safety_mazda.h @@ -52,6 +52,7 @@ static void mazda_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off if (addr == MAZDA_CRZ_CTRL) { + acc_main_on = GET_BIT(to_push, 17U); bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U; pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_nissan.h b/panda/board/safety/safety_nissan.h index c2406260f..30e1445bd 100644 --- a/panda/board/safety/safety_nissan.h +++ b/panda/board/safety/safety_nissan.h @@ -64,11 +64,16 @@ static void nissan_rx_hook(const CANPacket_t *to_push) { UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6); } + if (addr == 0x1b6) { + acc_main_on = GET_BIT(to_push, 36U); + } + // X-Trail 0x15c, Leaf 0x239 if ((addr == 0x15c) || (addr == 0x239)) { if (addr == 0x15c){ gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U; } else { + acc_main_on = GET_BIT(to_push, 17U); gas_pressed = GET_BYTE(to_push, 0) > 3U; } } diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h index 581dc50b7..a4f497dab 100644 --- a/panda/board/safety/safety_subaru.h +++ b/panda/board/safety/safety_subaru.h @@ -17,7 +17,7 @@ } -const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70); +const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(3071, 50, 70); const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40); @@ -152,6 +152,7 @@ static void subaru_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) { + acc_main_on = GET_BIT(to_push, 40U); bool cruise_engaged = GET_BIT(to_push, 41U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_subaru_preglobal.h b/panda/board/safety/safety_subaru_preglobal.h index 1047814ac..7d44fb0c8 100644 --- a/panda/board/safety/safety_subaru_preglobal.h +++ b/panda/board/safety/safety_subaru_preglobal.h @@ -56,6 +56,7 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) { // enter controls on rising edge of ACC, exit controls on ACC off if (addr == MSG_SUBARU_PG_CruiseControl) { + acc_main_on = GET_BIT(to_push, 48U); bool cruise_engaged = GET_BIT(to_push, 49U); pcm_cruise_check(cruise_engaged); } diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h index 652161ff2..4c3a1575c 100644 --- a/panda/board/safety/safety_tesla.h +++ b/panda/board/safety/safety_tesla.h @@ -100,6 +100,14 @@ static void tesla_rx_hook(const CANPacket_t *to_push) { if(addr == (tesla_powertrain ? 0x256 : 0x368)) { // Cruise state int cruise_state = (GET_BYTE(to_push, 1) >> 4); + + acc_main_on = (cruise_state == 1) || // STANDBY + (cruise_state == 2) || // ENABLED + (cruise_state == 3) || // STANDSTILL + (cruise_state == 4) || // OVERRIDE + (cruise_state == 6) || // PRE_FAULT + (cruise_state == 7); // PRE_CANCEL + bool cruise_engaged = (cruise_state == 2) || // ENABLED (cruise_state == 3) || // STANDSTILL (cruise_state == 4) || // OVERRIDE diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index 05f84e460..36b236cea 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -37,9 +37,29 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = { .min_accel = -3500, // -3.5 m/s2 }; +const LongitudinalLimits TOYOTA_LONG_LIMITS_SPORT = { + .max_accel = 4000, // 4.0 m/s2 + .min_accel = -3500, // -3.5 m/s2 +}; + +// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches +// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state +// Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805 +const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805; +#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks + // Stock longitudinal -#define TOYOTA_COMMON_TX_MSGS \ - {0x2E4, 0, 5}, {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \ +#define TOYOTA_BASE_TX_MSGS \ + {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \ + {0x750, 0, 8}, /* white list 0x750 for Enhanced Diagnostic Request */ \ + +#define TOYOTA_COMMON_TX_MSGS \ + TOYOTA_BASE_TX_MSGS \ + {0x2E4, 0, 5}, \ + +#define TOYOTA_COMMON_SECOC_TX_MSGS \ + TOYOTA_BASE_TX_MSGS \ + {0x2E4, 0, 8}, {0x131, 0, 8}, \ #define TOYOTA_COMMON_LONG_TX_MSGS \ TOYOTA_COMMON_TX_MSGS \ @@ -47,31 +67,53 @@ const LongitudinalLimits TOYOTA_LONG_LIMITS = { {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \ {0x411, 0, 8}, /* PCS_HUD */ \ {0x750, 0, 8}, /* radar diagnostic address */ \ + {0x1D3, 0, 8}, \ const CanMsg TOYOTA_TX_MSGS[] = { TOYOTA_COMMON_TX_MSGS }; +const CanMsg TOYOTA_SECOC_TX_MSGS[] = { + TOYOTA_COMMON_SECOC_TX_MSGS +}; + const CanMsg TOYOTA_LONG_TX_MSGS[] = { TOYOTA_COMMON_LONG_TX_MSGS }; +const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = { + TOYOTA_COMMON_LONG_TX_MSGS + {0x200, 0, 6}, // gas interceptor +}; + #define TOYOTA_COMMON_RX_CHECKS(lta) \ {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \ {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \ - {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, { 0 }, { 0 }}}, \ - {.msg = {{0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \ - {0x226, 0, 8, .check_checksum = false, .frequency = 40U}, { 0 }}}, \ + {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, \ + {0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}}, \ + {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U}, \ + {0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \ + {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}}, \ RxCheck toyota_lka_rx_checks[] = { TOYOTA_COMMON_RX_CHECKS(false) }; +RxCheck toyota_lka_interceptor_rx_checks[] = { + TOYOTA_COMMON_RX_CHECKS(false) + {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, +}; + // Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars RxCheck toyota_lta_rx_checks[] = { TOYOTA_COMMON_RX_CHECKS(true) }; +RxCheck toyota_lta_interceptor_rx_checks[] = { + TOYOTA_COMMON_RX_CHECKS(true) + {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, +}; + // safety param flags // first byte is for EPS factor, second is for flags const uint32_t TOYOTA_PARAM_OFFSET = 8U; @@ -79,7 +121,9 @@ const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U; const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET; const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET; const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET; +const uint32_t TOYOTA_PARAM_GAS_INTERCEPTOR = 8UL << TOYOTA_PARAM_OFFSET; +bool toyota_secoc = false; bool toyota_alt_brake = false; bool toyota_stock_longitudinal = false; bool toyota_lta = false; @@ -100,6 +144,17 @@ static uint32_t toyota_get_checksum(const CANPacket_t *to_push) { return (uint8_t)(GET_BYTE(to_push, checksum_byte)); } +static uint8_t toyota_get_counter(const CANPacket_t *to_push) { + int addr = GET_ADDR(to_push); + + uint8_t cnt = 0U; + if (addr == 0x201) { + // Signal: COUNTER_PEDAL + cnt = GET_BYTE(to_push, 4) & 0x0FU; + } + return cnt; +} + static bool toyota_get_quality_flag_valid(const CANPacket_t *to_push) { int addr = GET_ADDR(to_push); @@ -144,6 +199,10 @@ static void toyota_rx_hook(const CANPacket_t *to_push) { } } + if (addr == 0x1D3) { + acc_main_on = GET_BIT(to_push, 15U); + } + // enter controls on rising edge of ACC, exit controls on ACC off // exit controls on rising edge of gas press if (addr == 0x1D2) { @@ -152,7 +211,9 @@ static void toyota_rx_hook(const CANPacket_t *to_push) { pcm_cruise_check(cruise_engaged); // sample gas pedal - gas_pressed = !GET_BIT(to_push, 4U); + if (!enable_gas_interceptor) { + gas_pressed = !GET_BIT(to_push, 4U); + } } // sample speed @@ -175,6 +236,15 @@ static void toyota_rx_hook(const CANPacket_t *to_push) { brake_pressed = GET_BIT(to_push, bit); } + // sample gas interceptor + if ((addr == 0x201) && enable_gas_interceptor) { + int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push); + gas_pressed = gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD; + + // TODO: remove this, only left in for gas_interceptor_prev test + gas_interceptor_prev = gas_interceptor; + } + bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA if (!toyota_stock_longitudinal && (addr == 0x343)) { stock_ecu_detected = true; // ACC_CONTROL @@ -184,19 +254,33 @@ static void toyota_rx_hook(const CANPacket_t *to_push) { } static bool toyota_tx_hook(const CANPacket_t *to_send) { + sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; + bool tx = true; int addr = GET_ADDR(to_send); int bus = GET_BUS(to_send); // Check if msg is sent on BUS 0 if (bus == 0) { + + // GAS PEDAL: safety check + if (addr == 0x200) { + if (longitudinal_interceptor_checks(to_send)) { + tx = false; + } + } + // ACCEL: safety check on byte 1-2 if (addr == 0x343) { int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1); desired_accel = to_signed(desired_accel, 16); bool violation = false; - violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS); + if (sport_mode) { + violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS_SPORT); + } else { + violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS); + } // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal if (toyota_stock_longitudinal) { @@ -223,7 +307,7 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) { } } - // LTA angle steering check + // STEERING_LTA angle steering check if (addr == 0x191) { // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals bool lta_request = GET_BIT(to_send, 0U); @@ -271,6 +355,18 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) { } } + // STEERING_LTA_2 angle steering check (SecOC) + if (toyota_secoc && (addr == 0x131)) { + // SecOC cars block any form of LTA actuation for now + bool lta_request = GET_BIT(to_send, 3U); // STEERING_LTA_2.STEER_REQUEST + bool lta_request2 = GET_BIT(to_send, 0U); // STEERING_LTA_2.STEER_REQUEST_2 + int lta_angle_msb = GET_BYTE(to_send, 2); // STEERING_LTA_2.STEER_ANGLE_CMD (MSB) + int lta_angle_lsb = GET_BYTE(to_send, 3); // STEERING_LTA_2.STEER_ANGLE_CMD (LSB) + bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0); + if (actuation) { + tx = false; + } + } // STEER: safety check on bytes 2-3 if (addr == 0x2E4) { int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2); @@ -293,7 +389,9 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) { if (addr == 0x750) { // this address is sub-addressed. only allow tester present to radar (0xF) bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U); - if (invalid_uds_msg) { + // AleSato added some more hack'sss + bool valid_uds_msgs = (GET_BYTES(to_send, 0, 4) == 0x11300540U); // automatic door locking and unlocking + if (invalid_uds_msg && !valid_uds_msgs) { tx = 0; } } @@ -302,20 +400,41 @@ static bool toyota_tx_hook(const CANPacket_t *to_send) { } static safety_config toyota_init(uint16_t param) { +#ifdef ALLOW_DEBUG + const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET; + toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC); +#endif + toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE); toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL); toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA); + enable_gas_interceptor = GET_FLAG(param, TOYOTA_PARAM_GAS_INTERCEPTOR); toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR; + // Gas interceptor should not be used if openpilot is not controlling longitudinal + if (toyota_stock_longitudinal) { + enable_gas_interceptor = false; + } + safety_config ret; if (toyota_stock_longitudinal) { - SET_TX_MSGS(TOYOTA_TX_MSGS, ret); + if (toyota_secoc) { + SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret); + } else { + SET_TX_MSGS(TOYOTA_TX_MSGS, ret); + } } else { - SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret); + enable_gas_interceptor ? SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret) : \ + SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret); } - toyota_lta ? SET_RX_CHECKS(toyota_lta_rx_checks, ret) : \ - SET_RX_CHECKS(toyota_lka_rx_checks, ret); + if (enable_gas_interceptor) { + toyota_lta ? SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret) : \ + SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret); + } else { + toyota_lta ? SET_RX_CHECKS(toyota_lta_rx_checks, ret) : \ + SET_RX_CHECKS(toyota_lka_rx_checks, ret); + } return ret; } @@ -331,6 +450,8 @@ static int toyota_fwd_hook(int bus_num, int addr) { // block stock lkas messages and stock acc messages (if OP is doing ACC) // in TSS2, 0x191 is LTA which we need to block to avoid controls collision bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191)); + // on SecOC cars 0x131 is also LTA + is_lkas_msg |= toyota_secoc && (addr == 0x131); // in TSS2 the camera does ACC as well, so filter 0x343 bool is_acc_msg = (addr == 0x343); bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal); @@ -349,5 +470,6 @@ const safety_hooks toyota_hooks = { .fwd = toyota_fwd_hook, .get_checksum = toyota_get_checksum, .compute_checksum = toyota_compute_checksum, + .get_counter = toyota_get_counter, .get_quality_flag_valid = toyota_get_quality_flag_valid, }; diff --git a/panda/board/safety/safety_volkswagen_mqb.h b/panda/board/safety/safety_volkswagen_mqb.h index d880a69a6..0a84342f5 100644 --- a/panda/board/safety/safety_volkswagen_mqb.h +++ b/panda/board/safety/safety_volkswagen_mqb.h @@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = { .inactive_accel = 3010, // VW sends one increment above the max range when inactive }; +const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS_SPORT = { + .max_accel = 4000, + .min_accel = -3500, + .inactive_accel = 3010, // VW sends one increment above the max range when inactive +}; + #define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds #define MSG_LH_EPS_03 0x09F // RX from EPS, for driver steering torque #define MSG_ESP_05 0x106 // RX from ABS, for brake switch state @@ -197,6 +203,8 @@ static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) { } static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) { + sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; + int addr = GET_ADDR(to_send); bool tx = true; @@ -234,7 +242,13 @@ static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) { desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U; } - violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS); + if (sport_mode) { + if (desired_accel != 0) { + violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS_SPORT); + } + } else { + violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS); + } if (violation) { tx = false; diff --git a/panda/board/safety/safety_volkswagen_pq.h b/panda/board/safety/safety_volkswagen_pq.h index de147cb58..c8838cf48 100644 --- a/panda/board/safety/safety_volkswagen_pq.h +++ b/panda/board/safety/safety_volkswagen_pq.h @@ -20,6 +20,12 @@ const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = { .inactive_accel = 3010, // VW sends one increment above the max range when inactive }; +const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = { + .max_accel = 4000, + .min_accel = -3500, + .inactive_accel = 3010, // VW sends one increment above the max range when inactive +}; + #define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque #define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque #define MSG_BREMSE_1 0x1A0 // RX from ABS, for ego speed @@ -170,6 +176,8 @@ static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) { } static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) { + sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; + int addr = GET_ADDR(to_send); bool tx = true; @@ -198,8 +206,14 @@ static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) { // Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22) int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U; - if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) { - tx = false; + if (sport_mode) { + if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS_SPORT)) { + tx = false; + } + } else { + if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) { + tx = false; + } } } diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h index 6df5b18f9..0427d90aa 100644 --- a/panda/board/safety_declarations.h +++ b/panda/board/safety_declarations.h @@ -220,10 +220,12 @@ bool brake_pressed_prev = false; bool regen_braking = false; bool regen_braking_prev = false; bool cruise_engaged_prev = false; +bool sport_mode = false; struct sample_t vehicle_speed; bool vehicle_moving = false; bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018 int cruise_button_prev = 0; +int cruise_main_prev = 0; bool safety_rx_checks_invalid = false; // for safety modes with torque steering control @@ -269,3 +271,6 @@ int alternative_experience = 0; uint32_t safety_mode_cnt = 0U; // allow 1s of transition timeout after relay changes state before assessing malfunctioning const uint32_t RELAY_TRNS_TIMEOUT = 1U; + +// Always on Lateral +#define ALT_EXP_ALWAYS_ON_LATERAL 32 diff --git a/panda/python/__init__.py b/panda/python/__init__.py index bcb675ed6..d31235075 100644 --- a/panda/python/__init__.py +++ b/panda/python/__init__.py @@ -111,6 +111,7 @@ class ALTERNATIVE_EXPERIENCE: DISABLE_STOCK_AEB = 2 RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8 ALLOW_AEB = 16 + ALWAYS_ON_LATERAL = 32 class Panda: @@ -191,11 +192,14 @@ class Panda: FLAG_TOYOTA_ALT_BRAKE = (1 << 8) FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8) FLAG_TOYOTA_LTA = (4 << 8) + FLAG_TOYOTA_GAS_INTERCEPTOR = (8 << 8) FLAG_HONDA_ALT_BRAKE = 1 FLAG_HONDA_BOSCH_LONG = 2 FLAG_HONDA_NIDEC_ALT = 4 FLAG_HONDA_RADARLESS = 8 + FLAG_HONDA_GAS_INTERCEPTOR = 16 + FLAG_HONDA_CLARITY = 32 FLAG_HYUNDAI_EV_GAS = 1 FLAG_HYUNDAI_HYBRID_GAS = 2 @@ -205,6 +209,7 @@ class Panda: FLAG_HYUNDAI_CANFD_ALT_BUTTONS = 32 FLAG_HYUNDAI_ALT_LIMITS = 64 FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128 + FLAG_HYUNDAI_LFA_BTN = 256 FLAG_TESLA_POWERTRAIN = 1 FLAG_TESLA_LONG_CONTROL = 2 diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py index 082199c02..8262b5256 100644 --- a/panda/tests/safety/test_honda.py +++ b/panda/tests/safety/test_honda.py @@ -350,6 +350,21 @@ class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase): pass +class TestHondaNidecGasInterceptorSafety(common.GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase): + """ + Covers the Honda Nidec safety mode with a gas interceptor, switches to a button-enable car + """ + + TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]] + INTERCEPTOR_THRESHOLD = 492 + + def setUp(self): + self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated") + self.safety = libpanda_py.libpanda + self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_GAS_INTERCEPTOR) + self.safety.init_tests() + + class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety): """ Covers the Honda Nidec safety mode with alt SCM messages @@ -372,6 +387,33 @@ class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety): return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values) +class TestHondaNidecAltGasInterceptorSafety(common.GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase): + """ + Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor, switches to a button-enable car + """ + + TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]] + INTERCEPTOR_THRESHOLD = 492 + + def setUp(self): + self.packer = CANPackerPanda("acura_ilx_2016_can_generated") + self.safety = libpanda_py.libpanda + self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT | Panda.FLAG_HONDA_GAS_INTERCEPTOR) + self.safety.init_tests() + + def _acc_state_msg(self, main_on): + values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4} + self.__class__.cnt_acc_state += 1 + return self.packer.make_can_msg_panda("SCM_BUTTONS", self.PT_BUS, values) + + def _button_msg(self, buttons, main_on=False, bus=None): + bus = self.PT_BUS if bus is None else bus + values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4} + self.__class__.cnt_button += 1 + return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values) + + + # ********************* Honda Bosch ********************** diff --git a/panda/tests/safety/test_toyota.py b/panda/tests/safety/test_toyota.py index 80bf9ce9a..0743c67e8 100644 --- a/panda/tests/safety/test_toyota.py +++ b/panda/tests/safety/test_toyota.py @@ -14,6 +14,7 @@ TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0 [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1 [0x411, 0], # PCS_HUD [0x750, 0]] # radar diagnostic address +GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]] class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSafetyTest): @@ -126,6 +127,32 @@ class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSa self.assertFalse(self.safety.get_controls_allowed()) +class TestToyotaSafetyGasInterceptorBase(common.GasInterceptorSafetyTest, TestToyotaSafetyBase): + + TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS + GAS_INTERCEPTOR_TX_MSGS + INTERCEPTOR_THRESHOLD = 805 + + def setUp(self): + super().setUp() + self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.safety.get_current_safety_param() | + Panda.FLAG_TOYOTA_GAS_INTERCEPTOR) + self.safety.init_tests() + + def test_stock_longitudinal(self): + # If stock longitudinal is set, the gas interceptor safety param should not be respected + self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.safety.get_current_safety_param() | + Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL) + self.safety.init_tests() + + # Spot check a few gas interceptor tests: (1) reading interceptor, + # (2) behavior around interceptor, and (3) txing interceptor msgs + for test in (self.test_prev_gas_interceptor, self.test_disengage_on_gas_interceptor, + self.test_gas_interceptor_safety_check): + with self.subTest(test=test.__name__): + with self.assertRaises(AssertionError): + test() + + class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest): MAX_RATE_UP = 15 @@ -148,6 +175,10 @@ class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSaf self.safety.init_tests() +class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyTorque): + pass + + class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest): # Angle control limits @@ -261,6 +292,10 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest self.assertEqual(self.safety.get_angle_meas_max(), 0) +class TestToyotaSafetyAngleGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyAngle): + pass + + class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque): def setUp(self): @@ -278,6 +313,10 @@ class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque): pass +class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaAltBrakeSafety): + pass + + class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase): TX_MSGS = TOYOTA_COMMON_TX_MSGS diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/img_spinner_comma.png index 16109557f..9f5e55877 100644 Binary files a/selfdrive/assets/img_spinner_comma.png and b/selfdrive/assets/img_spinner_comma.png differ diff --git a/selfdrive/assets/img_spinner_track.png b/selfdrive/assets/img_spinner_track.png index 931c17e83..d54d51ead 100644 Binary files a/selfdrive/assets/img_spinner_track.png and b/selfdrive/assets/img_spinner_track.png differ diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index cb978f6c8..b918b684a 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,4 +1,5 @@ # functions common among cars +import logging from collections import namedtuple from dataclasses import dataclass from enum import IntFlag, ReprEnum, EnumType @@ -11,6 +12,10 @@ from openpilot.common.numpy_fast import clip, interp from openpilot.common.utils import Freezable from openpilot.selfdrive.car.docs_definitions import CarDocs +# set up logging +carlog = logging.getLogger('carlog') +carlog.setLevel(logging.INFO) +carlog.propagate = False # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. @@ -165,6 +170,10 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra return above_limit_frames, request +def rate_limit(new_value, last_value, dw_step, up_step): + return clip(new_value, last_value + dw_step, last_value + up_step) + + def crc8_pedal(data): crc = 0xFF # standard init value poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 259126c41..66ea4dd74 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -35,13 +35,12 @@ class CarController(CarControllerBase): torque -= deadband return torque - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): torque_l = 0 torque_r = 0 - llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1 - if CC.enabled and llk_valid: + if CC.enabled: # Read these from the joystick # TODO: this isn't acceleration, okay? speed_desired = CC.actuators.accel / 5. diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py index fca9bcc62..08ee92299 100644 --- a/selfdrive/car/body/carstate.py +++ b/selfdrive/car/body/carstate.py @@ -1,4 +1,4 @@ -from cereal import car +from cereal import car, custom from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.body.values import DBC @@ -6,8 +6,9 @@ from openpilot.selfdrive.car.body.values import DBC STARTUP_TICKS = 100 class CarState(CarStateBase): - def update(self, cp): + def update(self, cp, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L'] ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R'] @@ -28,7 +29,7 @@ class CarState(CarStateBase): ret.cruiseState.enabled = True ret.cruiseState.available = True - return ret + return ret, fp_ret @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index f797a7ecf..c5e265496 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -7,7 +7,7 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.notCar = True ret.carName = "body" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] @@ -25,8 +25,8 @@ class CarInterface(CarInterfaceBase): return ret - def _update(self, c): - ret = self.CS.update(self.cp) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, frogpilot_toggles) # wait for everything to init first if self.frame > int(5. / DT_CTRL): @@ -36,4 +36,4 @@ class CarInterface(CarInterfaceBase): ret.events[0].enable = True self.frame += 1 - return ret + return ret, fp_ret diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 66097339b..40977e4b8 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -12,7 +12,6 @@ from openpilot.selfdrive.car.mock.values import CAR as MOCK from openpilot.common.swaglog import cloudlog import cereal.messaging as messaging from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.system.version import get_build_metadata FRAME_FINGERPRINT = 100 # 1s @@ -20,11 +19,7 @@ EventName = car.CarEvent.EventName def get_startup_event(car_recognized, controller_available, fw_seen): - build_metadata = get_build_metadata() - if build_metadata.openpilot.comma_remote and build_metadata.tested_channel: - event = EventName.startup - else: - event = EventName.startupMaster + event = EventName.customStartupAlert if not car_recognized: if fw_seen: @@ -190,15 +185,27 @@ def get_car_interface(CP): return CarInterface(CP, CarController, CarState) -def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): +def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None): + car_model = params.get("CarModel", encoding='utf-8') + force_fingerprint = params.get_bool("ForceFingerprint") + candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) - if candidate is None: - cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True) + if candidate is None or force_fingerprint: + if car_model is not None: + candidate = car_model + else: + cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True) + candidate = "MOCK" + else: + params.put_nonblocking("CarMake", candidate.split('_')[0].title()) + params.put_nonblocking("CarModel", candidate) + + if frogpilot_toggles.block_user: candidate = "MOCK" CarInterface, _, _ = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) + CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_openpilot_long, experimental_long_allowed, params, docs=False) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index d9ee020ba..7e055f53c 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -4,18 +4,21 @@ import time import cereal.messaging as messaging -from cereal import car +from cereal import car, custom from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, update_frogpilot_toggles + REPLAY = "REPLAY" in os.environ EventName = car.CarEvent.EventName @@ -26,8 +29,8 @@ class Car: def __init__(self, CI=None): self.can_sock = messaging.sub_sock('can', timeout=20) - self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) - self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) + self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'frogpilotPlan']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'frogpilotCarState']) self.can_rcv_cum_timeout_counter = 0 @@ -45,8 +48,9 @@ class Car: get_one_can(self.can_sock) num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) + disable_openpilot_long = self.params.get_bool("DisableOpenpilotLongitudinal") experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") - self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, self.params, num_pandas, get_frogpilot_toggles()) else: self.CI, self.CP = CI, CI.CP @@ -66,28 +70,52 @@ class Car: safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] + if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"): + secoc_key = self.params.get("SecOCKey", encoding='utf8') + if secoc_key is not None: + saved_secoc_key = bytes.fromhex(secoc_key.strip()) + if len(saved_secoc_key) == 16: + self.CP.secOcKeyAvailable = True + self.CI.CS.secoc_key = saved_secoc_key + if controller_available: + self.CI.CC.secoc_key = saved_secoc_key + else: + cloudlog.warning("Saved SecOC key is invalid") + # Write previous route's CarParams prev_cp = self.params.get("CarParamsPersistent") if prev_cp is not None: self.params.put("CarParamsPrevRoute", prev_cp) + self.events = Events() + + # card is driven by can recv, expected at 100Hz + self.rk = Ratekeeper(100, print_delay_threshold=None) + + # FrogPilot variables + self.frogpilot_toggles = get_frogpilot_toggles() + + if self.frogpilot_toggles.acceleration_profile == 3: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX + + if self.frogpilot_toggles.always_on_lateral: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + # Write CarParams for controls and radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - self.events = Events() - - # card is driven by can recv, expected at 100Hz - self.rk = Ratekeeper(100, print_delay_threshold=None) + update_frogpilot_toggles() def state_update(self) -> car.CarState: """carState update loop, driven by can""" # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - CS = self.CI.update(self.CC_prev, can_strs) + CS, FPCS = self.CI.update(self.CC_prev, can_strs, self.frogpilot_toggles) self.sm.update(0) @@ -100,7 +128,7 @@ class Car: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime - return CS + return CS, FPCS def update_events(self, CS: car.CarState) -> car.CarState: self.events.clear() @@ -115,7 +143,7 @@ class Car: CS.events = self.events.to_msg() - def state_publish(self, CS: car.CarState): + def state_publish(self, CS: car.CarState, FPCS: custom.FrogPilotCarState): """carState and carParams publish loop""" # carParams - logged every 50 seconds (> 1 per segment) @@ -139,6 +167,12 @@ class Car: cs_send.carState.cumLagMs = -self.rk.remaining * 1000. self.pm.send('carState', cs_send) + # frogpilotCarState + fpcs_send = messaging.new_message('frogpilotCarState') + fpcs_send.valid = CS.canValid + fpcs_send.frogpilotCarState = FPCS + self.pm.send('frogpilotCarState', fpcs_send) + def controls_update(self, CS: car.CarState, CC: car.CarControl): """control update loop, driven by carControl""" @@ -152,17 +186,17 @@ class Car: if self.sm.all_alive(['carControl']): # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) + self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos, self.frogpilot_toggles) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) self.CC_prev = CC def step(self): - CS = self.state_update() + CS, FPCS = self.state_update() self.update_events(CS) - self.state_publish(CS) + self.state_publish(CS, FPCS) initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and self.sm.seen['onroadEvents']) @@ -177,6 +211,9 @@ class Car: self.step() self.rk.monitor_time() + # Update FrogPilot parameters + if self.sm['frogpilotPlan'].togglesUpdated: + self.frogpilot_toggles = get_frogpilot_toggles() def main(): config_realtime_process(4, Priority.CTRL_HIGH) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 85f53f68e..1b954a252 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_meas_steer_torque_limits from openpilot.selfdrive.car.chrysler import chryslercan -from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags from openpilot.selfdrive.car.interfaces import CarControllerBase @@ -20,7 +20,7 @@ class CarController(CarControllerBase): self.packer = CANPacker(dbc_name) self.params = CarControllerParams(CP) - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): can_sends = [] lkas_active = CC.latActive and self.lkas_control_bit_prev @@ -32,18 +32,18 @@ class CarController(CarControllerBase): # ACC cancellation if CC.cruiseControl.cancel: self.last_button_frame = self.frame - can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, self.CP, CS.button_counter + 1, das_bus, cancel=True)) # ACC resume from standstill elif CC.cruiseControl.resume: self.last_button_frame = self.frame - can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, self.CP, CS.button_counter + 1, das_bus, resume=True)) # HUD alerts if self.frame % 25 == 0: if CS.lkas_car_model != -1: can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, - self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) + self.hud_count, CS.lkas_car_model, CS.auto_high_beam, CC.latActive)) self.hud_count += 1 # steering @@ -51,7 +51,12 @@ class CarController(CarControllerBase): # TODO: can we make this more sane? why is it different for all the cars? lkas_control_bit = self.lkas_control_bit_prev - if CS.out.vEgo > self.CP.minSteerSpeed: + if self.CP.carFingerprint in RAM_DT: + if self.CP.minEnableSpeed <= CS.out.vEgo <= self.CP.minEnableSpeed + 0.5: + lkas_control_bit = True + if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2): + lkas_control_bit = False + elif CS.out.vEgo > self.CP.minSteerSpeed: lkas_control_bit = True elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 91b922c59..3085a320a 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -1,9 +1,9 @@ -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine from openpilot.selfdrive.car.interfaces import CarStateBase -from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS +from openpilot.selfdrive.car.chrysler.values import ChryslerFlags, DBC, STEER_THRESHOLD, RAM_CARS class CarState(CarStateBase): @@ -15,6 +15,7 @@ class CarState(CarStateBase): self.auto_high_beam = 0 self.button_counter = 0 self.lkas_car_model = -1 + self.button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS" if CP.carFingerprint in RAM_CARS: self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"] @@ -24,12 +25,13 @@ class CarState(CarStateBase): self.prev_distance_button = 0 self.distance_button = 0 - def update(self, cp, cp_cam): + def update(self, cp, cp_cam, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() self.prev_distance_button = self.distance_button - self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"] + self.distance_button = cp.vl[self.button_message]["ACC_Distance_Dec"] # lock info ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], @@ -99,9 +101,18 @@ class CarState(CarStateBase): ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1 self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"] - self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] + self.button_counter = cp.vl[self.button_message]["COUNTER"] - return ret + # FrogPilot CarState functions + fp_ret.brakeLights = bool(cp.vl["ESP_1"]["BRAKE_PRESSED_ACC"]) + + self.lkas_previously_enabled = self.lkas_enabled + if self.CP.carFingerprint in RAM_CARS: + self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"] + else: + self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1 + + return ret, fp_ret @staticmethod def get_cruise_messages(): @@ -113,6 +124,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): + button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS" messages = [ # sig_address, frequency ("ESP_1", 50), @@ -120,7 +132,7 @@ class CarState(CarStateBase): ("ESP_6", 50), ("STEERING", 100), ("ECM_5", 50), - ("CRUISE_BUTTONS", 50), + (button_message, 50), ("STEERING_LEVERS", 10), ("ORC_1", 2), ("BCM_1", 1), @@ -134,11 +146,14 @@ class CarState(CarStateBase): ("ESP_8", 50), ("EPS_3", 50), ("Transmission_Status", 50), + ("Center_Stack_1", 1), + ("Center_Stack_2", 1), ] else: messages += [ ("GEAR", 50), ("SPEED_1", 100), + ("TRACTION_BUTTON", 1), ] messages += CarState.get_cruise_messages() diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 96439f35d..b5e9956c0 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -1,10 +1,10 @@ from cereal import car -from openpilot.selfdrive.car.chrysler.values import RAM_CARS +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, ChryslerFlags GearShifter = car.CarState.GearShifter VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam): +def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, lat_active): # LKAS_HUD - Controls what lane-keeping icon is displayed # == Color == @@ -27,7 +27,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au # 7 Normal # 6 lane departure place hands on wheel - color = 2 if lkas_active else 1 + color = 2 if lkas_active else 1 if lat_active else 0 lines = 3 if lkas_active else 0 alerts = 7 if lkas_active else 0 @@ -48,6 +48,7 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au if CP.carFingerprint in RAM_CARS: values['AUTO_HIGH_BEAM_ON'] = auto_high_beam + values['LKAS_DISABLED'] = 0 if lat_active else 1 return packer.make_can_msg("DAS_6", 0, values) @@ -62,10 +63,11 @@ def create_lkas_command(packer, CP, apply_steer, lkas_control_bit): return packer.make_can_msg("LKAS_COMMAND", 0, values) -def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False): +def create_cruise_buttons(packer, CP, frame, bus, cancel=False, resume=False): values = { "ACC_Cancel": cancel, "ACC_Resume": resume, "COUNTER": frame % 0x10, } - return packer.make_can_msg("CRUISE_BUTTONS", bus, values) + button_message = "CRUISE_BUTTONS_ALT" if CP.flags & ChryslerFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS" + return packer.make_can_msg(button_message, bus, values) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 5072aad5c..da8ac55a0 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -535,6 +535,7 @@ FW_VERSIONS = { b'05149848AC ', b'05190341AD', b'68378695AJ ', + b'68378696AI ', b'68378696AJ ', b'68378701AI ', b'68378702AI ', @@ -591,6 +592,7 @@ FW_VERSIONS = { b'68360081AM', b'68360085AJ', b'68360085AL', + b'68360085AF', b'68360086AH', b'68360086AK', b'68384328AD', @@ -620,14 +622,21 @@ FW_VERSIONS = { (Ecu.combinationMeter, 0x742, None): [ b'68361606AH', b'68437735AC', + b'68437746AD', + b'68492682AD', + b'68525438AB', b'68492693AD', b'68525485AB', b'68525487AB', b'68525498AB', b'68528791AF', + b'68620919AB', + b'68620921AC', + b'68620923AB', b'68628474AB', ], (Ecu.srs, 0x744, None): [ + b'68346749AB', b'68399794AC', b'68428503AA', b'68428505AA', @@ -668,9 +677,12 @@ FW_VERSIONS = { b'52401032AE', b'52421132AF', b'52421332AF', + b'52421332AG', b'68527616AD ', b'M2370131MB', b'M2421132MB', + b'52421232AF', + b'52421492AA', ], }, CAR.DODGE_DURANGO: { diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 217a1a756..e3e76433a 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,18 +1,18 @@ #!/usr/bin/env python3 -from cereal import car +from cereal import car, custom from panda import Panda from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "chrysler" - ret.dashcamOnly = candidate in RAM_HD # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842 ret.radarUnavailable = True # DBC[candidate]['radar'] is None @@ -55,14 +55,24 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.RAM_1500_5TH_GEN: ret.steerActuatorDelay = 0.2 ret.wheelbase = 3.88 + ret.minSteerSpeed = 0.5 + ret.minEnableSpeed = 14.5 # Older EPS FW allow steer to zero if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw): ret.minSteerSpeed = 0. elif candidate == CAR.RAM_HD_5TH_GEN: ret.steerActuatorDelay = 0.2 + ret.wheelbase = 3.785 + ret.steerRatio = 15.61 + ret.mass = 3405. + ret.minSteerSpeed = 16 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False) + # Some RAM HD use Chrysler button address + if 570 not in fingerprint[0]: + ret.flags |= ChryslerFlags.RAM_HD_ALT_BUTTONS.value + else: raise ValueError(f"Unsupported car: {candidate}") @@ -76,22 +86,31 @@ class CarInterface(CarInterfaceBase): return ret - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles) - ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + ret.buttonEvents = [ + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] # events events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low]) # Low speed steer alert hysteresis logic - if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5): - self.low_speed_alert = True - elif ret.vEgo > (self.CP.minSteerSpeed + 1.): - self.low_speed_alert = False + if self.CP.carFingerprint in RAM_DT: + if self.CS.out.vEgo >= self.CP.minEnableSpeed: + self.low_speed_alert = False + if (self.CP.minEnableSpeed >= 14.5) and (self.CS.out.gearShifter != car.CarState.GearShifter.drive): + self.low_speed_alert = True + else: + if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5): + self.low_speed_alert = True + elif ret.vEgo > (self.CP.minSteerSpeed + 1.): + self.low_speed_alert = False if self.low_speed_alert: events.add(car.CarEvent.EventName.belowSteerSpeed) ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 42ea94cf8..14209bfb3 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -13,6 +13,7 @@ Ecu = car.CarParams.Ecu class ChryslerFlags(IntFlag): # Detected flags HIGHER_MIN_STEERING_SPEED = 1 + RAM_HD_ALT_BUTTONS = 2 @dataclass class ChryslerCarDocs(CarDocs): @@ -100,7 +101,7 @@ class CarControllerParams: elif CP.carFingerprint in RAM_DT: self.STEER_DELTA_UP = 6 self.STEER_DELTA_DOWN = 6 - self.STEER_MAX = 261 # EPS allows more, up to 350? + self.STEER_MAX = 350 # EPS allows more, up to 350? else: self.STEER_DELTA_UP = 3 self.STEER_DELTA_DOWN = 3 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 7be3b2ebe..fc0dd0125 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -7,6 +7,8 @@ from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel + LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -37,7 +39,7 @@ class CarController(CarControllerBase): self.steer_alert_last = False self.lead_distance_bars_last = None - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): can_sends = [] actuators = CC.actuators @@ -65,6 +67,13 @@ class CarController(CarControllerBase): if CC.latActive: # apply rate limits, curvature error limit, and clip to signal range current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) + # PFEIFER - FSH {{ + # Ignore limits while overriding, this prevents pull when releasing the wheel. This will cause messages to be + # blocked by panda safety, usually while the driver is overriding and limited to at most 1 message while the + # driver is not overriding. + if CS.out.steeringPressed: + self.apply_curvature_last = actuators.curvature + # }} PFEIFER - FSH apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) else: apply_curvature = 0. @@ -87,7 +96,10 @@ class CarController(CarControllerBase): # send acc msg at 50Hz if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: # Both gas and accel are in m/s^2, accel is used solely for braking - accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + if frogpilot_toggles.sport_plus: + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo))) + else: + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX)) gas = accel if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 78f48ec5c..db9abdf6c 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -1,4 +1,4 @@ -from cereal import car +from cereal import car, custom from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.common.conversions import Conversions as CV @@ -22,8 +22,9 @@ class CarState(CarStateBase): self.prev_distance_button = 0 self.distance_button = 0 - def update(self, cp, cp_cam): + def update(self, cp, cp_cam, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement # The vehicle usually recovers out of this state within a minute of normal driving @@ -107,7 +108,11 @@ class CarState(CarStateBase): self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"] self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"] - return ret + # FrogPilot CarState functions + self.lkas_previously_enabled = self.lkas_enabled + self.lkas_enabled = ret.genericToggle + + return ret, fp_ret @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 54cf86510..15ecb4bbf 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,4 +1,4 @@ -from cereal import car +from cereal import car, custom from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import create_button_events, get_safety_config @@ -7,15 +7,16 @@ from openpilot.selfdrive.car.ford.values import Ecu, FordFlags from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type TransmissionType = car.CarParams.TransmissionType GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "ford" - ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD) + ret.dashcamOnly = False ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle @@ -67,10 +68,13 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.44 return ret - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles) - ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + ret.buttonEvents = [ + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) if not self.CS.vehicle_sensors_valid: @@ -78,4 +82,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 9ece11b05..b77a8e8f1 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,13 +1,16 @@ from cereal import car from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp, clip from openpilot.common.realtime import DT_CTRL from openpilot.common.params_pyx import Params from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command from openpilot.selfdrive.car.gm import gmcan -from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation @@ -20,6 +23,10 @@ CAMERA_CANCEL_DELAY_FRAMES = 10 # Enforce a minimum interval between steering messages to avoid a fault MIN_STEER_MSG_INTERVAL_MS = 15 +# Constants for pitch compensation +PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade +BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds +BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): @@ -45,6 +52,10 @@ class CarController(CarControllerBase): self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) + # FrogPilot variables + self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz + self.accel_g = 0.0 + @staticmethod def calc_pedal_command(accel: float, long_active: bool) -> float: if not long_active: return 0. @@ -60,8 +71,9 @@ class CarController(CarControllerBase): return pedal_gas - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators + accel = brake_accel = actuators.accel hud_control = CC.hudControl hud_alert = hud_control.visualAlert hud_v_cruise = hud_control.setSpeed @@ -108,6 +120,15 @@ class CarController(CarControllerBase): # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: stopping = actuators.longControlState == LongCtrlState.stopping + + # Pitch compensated acceleration; + # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay + if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1: + self.pitch.update(CC.orientationNED[1]) + self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch + accel += self.accel_g + brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V) + at_full_stop = CC.longActive and CS.out.standstill near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) interceptor_gas_cmd = 0 @@ -122,11 +143,17 @@ class CarController(CarControllerBase): # Normal operation if self.CP.carFingerprint in EV_CAR: self.params.update_ev_gas_brake_threshold(CS.out.vEgo) - self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + if frogpilot_toggles.sport_plus: + self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS))) + else: + self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + if frogpilot_toggles.sport_plus: + self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS))) + else: + self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop if stopping: @@ -161,8 +188,13 @@ class CarController(CarControllerBase): resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume at_full_stop = at_full_stop and not resume + if CC.cruiseControl.resume and CS.pcm_acc_status == AccState.STANDSTILL and frogpilot_toggles.volt_sng: + acc_engaged = False + else: + acc_engaged = CC.enabled + # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation - can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop)) + can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop)) can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP)) @@ -170,6 +202,9 @@ class CarController(CarControllerBase): send_fcw = hud_alert == VisualAlert.fcw can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw)) + else: + # to keep accel steady for logs when not sending gas + accel += self.accel_g # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) @@ -219,6 +254,7 @@ class CarController(CarControllerBase): can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) new_actuators = actuators.as_builder() + new_actuators.accel = accel new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 0ce6e5a6b..b1728bd39 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -1,5 +1,5 @@ import copy -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import mean from opendbc.can.can_define import CANDefine @@ -33,8 +33,9 @@ class CarState(CarStateBase): self.single_pedal_mode = False self.pedal_steady = 0. - def update(self, pt_cp, cam_cp, loopback_cp): + def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() self.prev_cruise_buttons = self.cruise_buttons self.prev_distance_button = self.distance_button @@ -91,11 +92,11 @@ class CarState(CarStateBase): # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 - self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 + self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic) if self.CP.enableGasInterceptor: ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2. - threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 + threshold = 10 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting. ret.gasPressed = ret.gas > threshold else: ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. @@ -168,7 +169,20 @@ class CarState(CarStateBase): ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1 ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1 - return ret + # FrogPilot CarState functions + fp_ret.hasMenu = not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR) + + self.lkas_previously_enabled = self.lkas_enabled + if self.CP.carFingerprint in SDGM_CAR: + self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"] + else: + self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"] + + self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] + + fp_ret.sportGear = pt_cp.vl["SportMode"]["SportMode"] == 1 + + return ret, fp_ret @staticmethod def get_cam_can_parser(CP): @@ -207,6 +221,7 @@ class CarState(CarStateBase): ("EBCMFrictionBrakeStatus", 20), ("PSCMSteeringAngle", 100), ("ECMAcceleratorPos", 80), + ("SportMode", 0), ] if CP.carFingerprint in SDGM_CAR: diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py index 132dc225f..d18319343 100644 --- a/selfdrive/car/gm/fingerprints.py +++ b/selfdrive/car/gm/fingerprints.py @@ -195,6 +195,14 @@ FINGERPRINTS = { { 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8 }], + CAR.CHEVROLET_MALIBU_CC: [ + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7 + }], + CAR.CHEVROLET_TRAX: [ + { + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + }], } FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 99a97ed9c..86ddd42d4 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import os -from cereal import car +from cereal import car, custom from math import fabs, exp from panda import Panda @@ -12,7 +12,10 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel from openpilot.selfdrive.controls.lib.drive_helpers import get_friction +from openpilot.selfdrive.frogpilot.frogpilot_variables import params + ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -93,7 +96,9 @@ class CarInterface(CarInterfaceBase): return self.torque_from_lateral_accel_linear @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): + use_new_api = params.get_bool("NewLongAPIGM") + ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False @@ -107,7 +112,14 @@ class CarInterface(CarInterfaceBase): else: ret.transmissionType = TransmissionType.automatic - ret.longitudinalTuning.kiBP = [5., 35.] + if use_new_api: + ret.longitudinalTuning.kiBP = [5., 35.] + else: + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.15] + + ret.longitudinalTuning.kpBP = [5., 35.] + ret.longitudinalTuning.kiBP = [0.] if candidate in CAMERA_ACC_CAR: ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR @@ -119,7 +131,14 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 10 * CV.KPH_TO_MS # Tuning for experimental long - ret.longitudinalTuning.kiV = [2.0, 1.5] + if use_new_api: + ret.longitudinalTuning.kiV = [2.0, 1.5] + ret.vEgoStopping = 0.1 + ret.vEgoStarting = 0.1 + else: + ret.longitudinalTuning.kpV = [2.0, 1.5] + ret.longitudinalTuning.kiV = [0.72] + ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 @@ -130,6 +149,8 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG elif candidate in SDGM_CAR: + if use_new_api: + ret.longitudinalTuning.kiV = [0., 0.] # TODO: tuning ret.experimentalLongitudinalAvailable = False ret.networkLocation = NetworkLocation.fwdCamera ret.pcmCruise = True @@ -139,7 +160,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM else: # ASCM, OBD-II harness - ret.openpilotLongitudinalControl = True + ret.openpilotLongitudinalControl = not disable_openpilot_long ret.networkLocation = NetworkLocation.gateway ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs ret.pcmCruise = False # stock non-adaptive cruise control is kept off @@ -148,7 +169,11 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 7 * CV.MPH_TO_MS # Tuning - ret.longitudinalTuning.kiV = [2.4, 1.5] + if use_new_api: + ret.longitudinalTuning.kiV = [2.4, 1.5] + else: + ret.longitudinalTuning.kpV = [2.4, 1.5] + ret.longitudinalTuning.kiV = [0.36] if ret.enableGasInterceptor: # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits @@ -248,12 +273,19 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.CADILLAC_CT6_CC: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.CHEVROLET_MALIBU_CC: + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.CHEVROLET_TRAX: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + if ret.enableGasInterceptor: ret.networkLocation = NetworkLocation.fwdCamera ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM ret.minEnableSpeed = -1 ret.pcmCruise = False - ret.openpilotLongitudinalControl = True + ret.openpilotLongitudinalControl = not disable_openpilot_long ret.stoppingControl = True ret.autoResumeSng = True @@ -261,8 +293,14 @@ class CarInterface(CarInterfaceBase): ret.flags |= GMFlags.PEDAL_LONG.value ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG # Note: Low speed, stop and go not tested. Should be fairly smooth on highway - ret.longitudinalTuning.kiBP = [0.0, 5., 35.] - ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5] + if use_new_api: + ret.longitudinalTuning.kiBP = [0.0, 5., 35.] + ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5] + else: + ret.longitudinalTuning.kpBP = [5., 35.] + ret.longitudinalTuning.kpV = [0.35, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.0] + ret.longitudinalTuning.kiV = [0.1, 0.1] ret.longitudinalTuning.kf = 0.15 ret.stoppingDecelRate = 0.8 else: # Pedal used for SNG, ACC for longitudinal control otherwise @@ -277,17 +315,24 @@ class CarInterface(CarInterfaceBase): ret.radarUnavailable = True ret.experimentalLongitudinalAvailable = False ret.minEnableSpeed = 24 * CV.MPH_TO_MS - ret.openpilotLongitudinalControl = True + ret.openpilotLongitudinalControl = not disable_openpilot_long ret.pcmCruise = False + if use_new_api: + ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.] + ret.longitudinalTuning.kiV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed + else: + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.56] # == 2 km/h/s, 1.25 mph/s + ret.longitudinalActuatorDelay = 1. # TODO: measure this + + ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph + ret.longitudinalTuning.kpV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.1] + ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate) - ret.longitudinalActuatorDelayLowerBound = 1. # TODO: measure this - ret.longitudinalActuatorDelayUpperBound = 2. - - ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.] - ret.longitudinalTuning.kiV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed - if candidate in CC_ONLY_CAR: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC @@ -302,8 +347,8 @@ class CarInterface(CarInterfaceBase): return ret # returns a car.CarState - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback, frogpilot_toggles) # Don't add event if transitioning from INIT, unless it's to an actual button if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT: @@ -311,7 +356,9 @@ class CarInterface(CarInterfaceBase): *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, unpressed_btn=CruiseButtons.UNPRESS), *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, - {1: ButtonType.gapAdjustCruise}) + {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, + {1: FrogPilotButtonType.lkas}), ] # The ECM allows enabling on falling edge of set, but only rising edge of resume @@ -328,10 +375,21 @@ class CarInterface(CarInterfaceBase): if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)): events.add(EventName.belowEngageSpeed) - if ret.cruiseState.standstill and not self.CP.autoResumeSng: + if ret.cruiseState.standstill and not (self.CP.autoResumeSng or self.disable_resumeRequired): events.add(EventName.resumeRequired) - if ret.vEgo < self.CP.minSteerSpeed: + self.resumeRequired_shown = True + + # Disable the "resumeRequired" event after it's been shown once to not annoy the driver + if self.resumeRequired_shown and not ret.cruiseState.standstill: + self.disable_resumeRequired = True + + if ret.vEgo < self.CP.minSteerSpeed and not self.disable_belowSteerSpeed: events.add(EventName.belowSteerSpeed) + self.belowSteerSpeed_shown = True + + # Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver + if self.belowSteerSpeed_shown and ret.vEgo >= self.CP.minSteerSpeed: + self.disable_belowSteerSpeed = True if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled: events.add(EventName.speedTooLow) @@ -344,4 +402,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index d4288671b..6780776cf 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -33,39 +33,45 @@ class CarControllerParams: # Our controller should still keep the 2 second average above # -3.5 m/s^2 as per planner limits ACCEL_MAX = 2. # m/s^2 + ACCEL_MAX_PLUS = 4. # m/s^2 ACCEL_MIN = -4. # m/s^2 def __init__(self, CP): # Gas/brake lookups - self.ZERO_GAS = 2048 # Coasting + self.ZERO_GAS = 6144 # Coasting self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR: - self.MAX_GAS = 3400 - self.MAX_ACC_REGEN = 1514 - self.INACTIVE_REGEN = 1554 + self.MAX_GAS = 7496 + self.MAX_GAS_PLUS = 8848 + self.MAX_ACC_REGEN = 5610 + self.INACTIVE_REGEN = 5650 # Camera ACC vehicles have no regen while enabled. # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly - max_regen_acceleration = 0. + self.max_regen_acceleration = 0. elif CP.carFingerprint in SDGM_CAR: - self.MAX_GAS = 3400 - self.MAX_ACC_REGEN = 1514 - self.INACTIVE_REGEN = 1554 - max_regen_acceleration = 0. + self.MAX_GAS = 7496 + self.MAX_GAS_PLUS = 7496 + self.MAX_ACC_REGEN = 5610 + self.INACTIVE_REGEN = 5650 + self.max_regen_acceleration = 0. else: - self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. - self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen - self.INACTIVE_REGEN = 1404 + self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill. + self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max + self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen + self.INACTIVE_REGEN = 5500 # ICE has much less engine braking force compared to regen in EVs, # lower threshold removes some braking deadzone - max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1 + self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1 - self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX] + self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX] + self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS] self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS] + self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS] - self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration] + self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration] self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.] # determined by letting Volt regen to a stop in L gear from 89mph, @@ -76,10 +82,11 @@ class CarControllerParams: def update_ev_gas_brake_threshold(self, v_ego): gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V) + self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS] self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX] + self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS] self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold] - @dataclass class GMCarDocs(CarDocs): package: str = "Adaptive Cruise Control (ACC)" @@ -225,6 +232,14 @@ class CAR(Platforms): [GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")], CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5), ) + CHEVROLET_MALIBU_CC = GMPlatformConfig( + [GMCarDocs("Chevrolet Malibu 2023 No ACC")], + CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4), + ) + CHEVROLET_TRAX = GMPlatformConfig( + [GMCarDocs("Chevrolet TRAX 2024")], + CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4), + ) class CruiseButtons: @@ -306,15 +321,15 @@ FW_QUERY_CONFIG = FwQueryConfig( ) EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC} -CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC} +CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC} # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC')) # We're integrated at the Safety Data Gateway Module on these cars SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) -CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER} -CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC}) +CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX} +CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}) # CAMERA_ACC_CAR.update(CC_ONLY_CAR) STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index fe023ea17..9dd120ec7 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -4,11 +4,14 @@ from cereal import car from openpilot.common.numpy_fast import clip, interp from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import create_gas_interceptor_command from openpilot.selfdrive.car.honda import hondacan from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel + VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -125,7 +128,7 @@ class CarController(CarControllerBase): self.brake = 0.0 self.last_steer = 0.0 - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators hud_control = CC.hudControl conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric) @@ -182,7 +185,7 @@ class CarController(CarControllerBase): 0.5] # The Honda ODYSSEY seems to have different PCM_ACCEL # msgs, is it other cars too? - if not CC.longActive: + if self.CP.enableGasInterceptor or not CC.longActive: pcm_speed = 0.0 pcm_accel = int(0.0) elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL: @@ -215,7 +218,10 @@ class CarController(CarControllerBase): ts = self.frame * DT_CTRL if self.CP.carFingerprint in HONDA_BOSCH: - self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX) + if frogpilot_toggles.sport_plus: + self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo))) + else: + self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.params.BOSCH_ACCEL_MAX)) self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) stopping = actuators.longControlState == LongCtrlState.stopping @@ -234,15 +240,29 @@ class CarController(CarControllerBase): self.apply_brake_last = apply_brake self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX + if self.CP.enableGasInterceptor: + # way too aggressive at low speed without this + gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0]) + # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. + # This prevents unexpected pedal range rescaling + # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected + # when you do enable. + if CC.longActive: + self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.) + else: + self.gas = 0.0 + can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2)) + # Send dashboard UI commands. if self.frame % 10 == 0: hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed - self.gas = pcm_accel / self.params.NIDEC_GAS_MAX + if not self.CP.enableGasInterceptor: + self.gas = pcm_accel / self.params.NIDEC_GAS_MAX new_actuators = actuators.as_builder() new_actuators.speed = self.speed diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index c98d1a72d..253a0ae93 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -1,6 +1,6 @@ from collections import defaultdict -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp from opendbc.can.can_define import CANDefine @@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg): if CP.flags & HondaFlags.BOSCH_ALT_BRAKE: messages.append(("BRAKE_MODULE", 50)) - if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}): + if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}): messages.append(("EPB_STATUS", 50)) if CP.carFingerprint in HONDA_BOSCH: @@ -72,8 +72,14 @@ def get_can_messages(CP, gearbox_msg): else: messages.append(("DOORS_STATUS", 3)) + # add gas interceptor reading if we are using it + if CP.enableGasInterceptor: + messages.append(("GAS_SENSOR", 50)) + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: messages.append(("CRUISE_FAULT_STATUS", 50)) + elif CP.carFingerprint == CAR.HONDA_CLARITY: + messages.append(("BRAKE_ERROR", 100)), elif CP.openpilotLongitudinalControl: messages.append(("STANDSTILL", 50)) @@ -104,8 +110,9 @@ class CarState(CarStateBase): # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX) self.dash_speed_seen = False - def update(self, cp, cp_cam, cp_body): + def update(self, cp, cp_cam, cp_body, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() # car params v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping @@ -143,6 +150,8 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]) + elif self.CP.carFingerprint == CAR.HONDA_CLARITY: + ret.accFaulted = bool(cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_1"] or cp.vl["BRAKE_ERROR"]["BRAKE_ERROR_2"]) else: # On some cars, these two signals are always 1, this flag is masking a bug in release # FIXME: find and set the ACC faulted signals on more platforms @@ -181,14 +190,19 @@ class CarState(CarStateBase): ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 # TODO: set for all cars - if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}): + if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}): ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) - ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] - ret.gasPressed = ret.gas > 1e-5 + if self.CP.enableGasInterceptor: + # Same threshold as panda, equivalent to 1e-5 with previous DBC scaling + ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 + ret.gasPressed = ret.gas > 492 + else: + ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] + ret.gasPressed = ret.gas > 1e-5 ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"] ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"] @@ -241,7 +255,8 @@ class CarState(CarStateBase): if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5) else: - ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5) + aeb_sig = "COMPUTER_BRAKE_ALT" if self.CP.carFingerprint == CAR.HONDA_CLARITY else "COMPUTER_BRAKE" + ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"][aeb_sig] > 1e-5) self.acc_hud = False self.lkas_hud = False @@ -258,7 +273,20 @@ class CarState(CarStateBase): ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1 - return ret + # FrogPilot CarState functions + brake_light_cars = (CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_CRV_5G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, + CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.ACURA_RDX_3G, CAR.HONDA_E) + + if self.CP.carFingerprint in brake_light_cars or (self.CP.carFingerprint in HONDA_BOSCH and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS): + fp_ret.brakeLights = bool(cp.vl["ACC_CONTROL"]['BRAKE_LIGHTS'] != 0 or ret.brake > 0.4) if not self.CP.openpilotLongitudinalControl else bool(ret.brake > 0.4) + + self.prev_distance_button = self.distance_button + self.distance_button = self.cruise_setting == 3 + + self.lkas_previously_enabled = self.lkas_enabled + self.lkas_enabled = self.cruise_setting == 1 + + return ret, fp_ret def get_can_parser(self, CP): messages = get_can_messages(CP, self.gearbox_msg) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 8a5b79b41..3074bc89c 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -222,6 +222,16 @@ FW_VERSIONS = { b'39990-TGH-J530\x00\x00', b'39990-TGL-E130\x00\x00', b'39990-TGN-E120\x00\x00', + # Modded EPS Bosch Civic fw list + b'39990-TBA,C020\x00\x00', + b'39990-TBA,C120\x00\x00', + b'39990-TEA,T820\x00\x00', + b'39990-TEZ,T020\x00\x00', + b'39990-TGG,A020\x00\x00', + b'39990-TGG,A120\x00\x00', + b'39990-TGG,J510\x00\x00', + b'39990-TGL,E130\x00\x00', + b'39990-TGN,E120\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TBA-A060\x00\x00', @@ -892,4 +902,29 @@ FW_VERSIONS = { b'28101-65J-N010\x00\x00', ], }, + CAR.HONDA_CLARITY: { + (Ecu.shiftByWire, 0x18da0bf1, None): [ + b'54008-TRW-A910\x00\x00', + ], + (Ecu.vsa, 0x18da28f1, None): [ + b'57114-TRW-A010\x00\x00', + b'57114-TRW-A020\x00\x00', + ], + (Ecu.eps, 0x18da30f1, None): [ + b'39990-TRW-A020\x00\x00', + b'39990-TRW,A020\x00\x00', # modified firmware + b'39990,TRW,A020\x00\x00', # extra modified firmware + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-TRW-A210\x00\x00', + b'77959-TRW-A220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-TRW-A010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-TRW-A020\x00\x00', + b'78109-TRW-A030\x00\x00', + ], + }, } diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 1be496d95..2b595e0e4 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -53,8 +53,6 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca pcm_fault_cmd = False values = { - "COMPUTER_BRAKE": apply_brake, - "BRAKE_PUMP_REQUEST": pump_on, "CRUISE_OVERRIDE": pcm_override, "CRUISE_FAULT_CMD": pcm_fault_cmd, "CRUISE_CANCEL_CMD": pcm_cancel_cmd, @@ -67,6 +65,14 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca "AEB_REQ_2": 0, "AEB_STATUS": 0, } + + if car_fingerprint == CAR.HONDA_CLARITY: + values["COMPUTER_BRAKE_ALT"] = apply_brake + values["BRAKE_PUMP_REQUEST_ALT"] = apply_brake > 0 + else: + values["COMPUTER_BRAKE"] = apply_brake + values["BRAKE_PUMP_REQUEST"] = pump_on + return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values) @@ -134,7 +140,7 @@ def create_bosch_supplemental_1(packer, CAN, car_fingerprint): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values) -def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud): +def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud, lat_active): commands = [] radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl bus_lkas = get_lkas_cmd_bus(CAN, CP.carFingerprint, radar_disabled) @@ -169,7 +175,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_ lkas_hud_values = { 'SET_ME_X41': 0x41, 'STEERING_REQUIRED': hud.steer_required, - 'SOLID_LANES': hud.lanes_visible, + 'SOLID_LANES': lat_active, 'BEEP': 0, } diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index fdcba8bb8..253e44dc2 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from cereal import car +from cereal import car, custom from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp @@ -12,6 +12,7 @@ from openpilot.selfdrive.car.disable_ecu import disable_ecu ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName TransmissionType = car.CarParams.TransmissionType BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, @@ -24,6 +25,8 @@ class CarInterface(CarInterfaceBase): def get_pid_accel_limits(CP, current_speed, cruise_speed): if CP.carFingerprint in HONDA_BOSCH: return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX + elif CP.enableGasInterceptor: + return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX else: # NIDECs don't allow acceleration near cruise_speed, # so limit limits of pid to prevent windup @@ -32,7 +35,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "honda" CAN = CanBus(ret, fingerprint) @@ -48,9 +51,10 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] - ret.openpilotLongitudinalControl = True + ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt] + ret.openpilotLongitudinalControl = not disable_openpilot_long - ret.pcmCruise = True + ret.pcmCruise = not ret.enableGasInterceptor if candidate == CAR.HONDA_CRV_5G: ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar] @@ -100,8 +104,12 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022): - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + if eps_modified: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.HONDA_ACCORD: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end @@ -184,6 +192,21 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning + elif candidate == CAR.HONDA_CLARITY: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_CLARITY + if eps_modified: + for fw in car_fw: + if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion: + ret.lateralTuning.pid.kf = 0.00004 + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x3C00], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1575], [0.05175]] + elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 0xA00, 0x2800], [0, 2560, 3840]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]] + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + else: raise ValueError(f"unsupported car {candidate}") @@ -202,13 +225,16 @@ class CarInterface(CarInterfaceBase): if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG + if ret.enableGasInterceptor and candidate not in HONDA_BOSCH: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_GAS_INTERCEPTOR + if candidate in HONDA_BOSCH_RADARLESS: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_RADARLESS # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc - ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC}) + ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_CLARITY}) or ret.enableGasInterceptor ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS ret.steerActuatorDelay = 0.1 @@ -222,12 +248,13 @@ class CarInterface(CarInterfaceBase): disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03') # returns a car.CarState - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_toggles) ret.buttonEvents = [ *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT), *create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), ] # events @@ -246,10 +273,10 @@ class CarInterface(CarInterfaceBase): # non loud alert if cruise disables below 25mph as expected (+ a little margin) events.add(EventName.speedTooLow) else: - events.add(EventName.cruiseDisabled) + events.add(EventName.buttonCancel) if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001: events.add(EventName.manualRestart) ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c3005c667..7c2e3d8b3 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -191,6 +191,11 @@ class CAR(Platforms): dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) + HONDA_CLARITY = HondaNidecPlatformConfig( + [HondaCarDocs("Honda Clarity 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)], + CarSpecs(mass=4052. * CV.LB_TO_KG, wheelbase=2.75, centerToFrontRatio=0.41, steerRatio=16.50, tireStiffnessFactor=1.), + dbc_dict('honda_clarity_hybrid_2018_can_generated', 'acura_ilx_2016_nidec'), + ) HONDA_CRV = HondaNidecPlatformConfig( [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)], CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4038ddcca..ff037c116 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -9,6 +9,8 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR from openpilot.selfdrive.car.interfaces import CarControllerBase +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel + VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -57,7 +59,7 @@ class CarController(CarControllerBase): self.car_fingerprint = CP.carFingerprint self.last_button_frame = 0 - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators hud_control = CC.hudControl @@ -79,7 +81,10 @@ class CarController(CarControllerBase): self.apply_steer_last = apply_steer # accel + longitudinal - accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + if frogpilot_toggles.sport_plus: + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo))) + else: + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX)) stopping = actuators.longControlState == LongCtrlState.stopping set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) @@ -118,7 +123,7 @@ class CarController(CarControllerBase): # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled)) + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: @@ -149,11 +154,11 @@ class CarController(CarControllerBase): use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), hud_control, set_speed_in_units, stopping, - CC.cruiseControl.override, use_fca)) + CC.cruiseControl.override, use_fca, CS.out.cruiseState.available)) # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: - can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) + can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, CC.latActive)) # 5 Hz ACC options if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 92c489cf3..842074c83 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -2,7 +2,7 @@ from collections import deque import copy import math -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine @@ -52,11 +52,28 @@ class CarState(CarStateBase): self.params = CarControllerParams(CP) - def update(self, cp, cp_cam): + # FrogPilot variables + self.main_enabled = False + + self.active_mode = 0 + self.drive_mode_prev = 0 + + # Traffic signals for Speed Limit Controller - Credit goes to Multikyd! + def calculate_speed_limit(self, cp, cp_cam): if self.CP.carFingerprint in CANFD_CAR: - return self.update_canfd(cp, cp_cam) + speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam + return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"] + else: + speed_limit_nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] if self.CP.flags & HyundaiFlags.NAV_MSG else 0 + speed_limit_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.flags & HyundaiFlags.LKAS12 else None + return speed_limit_cam if speed_limit_cam is not None and speed_limit_cam not in (0, 255) else speed_limit_nav + + def update(self, cp, cp_cam, frogpilot_toggles): + if self.CP.carFingerprint in CANFD_CAR: + return self.update_canfd(cp, cp_cam, frogpilot_toggles) ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS @@ -102,7 +119,7 @@ class CarState(CarStateBase): # cruise state if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons - ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0 + ret.cruiseState.available = self.main_enabled ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False ret.cruiseState.nonAdaptive = False @@ -163,12 +180,29 @@ class CarState(CarStateBase): self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) + self.prev_main_buttons = self.main_buttons[-1] self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) + if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0: + self.main_enabled = not self.main_enabled - return ret + # FrogPilot CarState functions + fp_ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"]) - def update_canfd(self, cp, cp_cam): + if self.CP.flags & HyundaiFlags.LKAS12 or self.CP.flags & HyundaiFlags.NAV_MSG: + fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_conv + + self.prev_distance_button = self.distance_button + self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST + + self.lkas_previously_enabled = self.lkas_enabled + if self.CP.flags & HyundaiFlags.CAN_LFA_BTN: + self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"] + + return ret, fp_ret + + def update_canfd(self, cp, cp_cam, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS @@ -218,7 +252,7 @@ class CarState(CarStateBase): # cruise state # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement - ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0 + ret.cruiseState.available = self.main_enabled if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1 @@ -239,7 +273,10 @@ class CarState(CarStateBase): self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) + self.prev_main_buttons = self.main_buttons[-1] self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) + if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0: + self.main_enabled = not self.main_enabled self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED @@ -247,7 +284,28 @@ class CarState(CarStateBase): self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else cp_cam.vl["CAM_0x2a4"]) - return ret + # FrogPilot CarState functions + fp_ret.brakeLights = bool(cp.vl["TCS"]["DriverBraking"]) + + if self.CP.flags & HyundaiFlags.NAV_MSG: + fp_ret.dashboardSpeedLimit = self.calculate_speed_limit(cp, cp_cam) * speed_factor + + self.prev_distance_button = self.distance_button + self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST + + drive_mode = cp.vl["DRIVE_MODE"]["DRIVE_MODE2"] + + if drive_mode != 0 and drive_mode != self.drive_mode_prev: + self.active_mode = drive_mode if drive_mode in (2, 3) else 1 + self.drive_mode_prev = drive_mode + + fp_ret.ecoGear = self.active_mode == 2 + fp_ret.sportGear = self.active_mode == 3 + + self.lkas_previously_enabled = self.lkas_enabled + self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"] + + return ret, fp_ret def get_can_parser(self, CP): if CP.carFingerprint in CANFD_CAR: @@ -297,6 +355,13 @@ class CarState(CarStateBase): else: messages.append(("LVR12", 100)) + if CP.flags & HyundaiFlags.CAN_LFA_BTN: + messages.append(("BCM_PO_11", 50)) + + messages += [ + ("Navi_HU", 5), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod @@ -317,6 +382,9 @@ class CarState(CarStateBase): if CP.flags & HyundaiFlags.USE_FCA.value: messages.append(("FCA11", 50)) + if CP.flags & HyundaiFlags.LKAS12: + messages.append(("LKAS12", 10)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) def get_can_parser_canfd(self, CP): @@ -330,6 +398,7 @@ class CarState(CarStateBase): ("CRUISE_BUTTONS_ALT", 50), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), + ("DRIVE_MODE", 0), ] if CP.flags & HyundaiFlags.EV: @@ -352,6 +421,9 @@ class CarState(CarStateBase): ("SCC_CONTROL", 50), ] + if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.flags & HyundaiFlags.NAV_MSG: + messages.append(("CLUSTER_SPEED_LIMIT", 10)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN) @staticmethod @@ -365,4 +437,7 @@ class CarState(CarStateBase): ("SCC_CONTROL", 50), ] + if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.flags & HyundaiFlags.NAV_MSG: + messages.append(("CLUSTER_SPEED_LIMIT", 10)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index b4b951f89..81ff568a6 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -117,20 +117,20 @@ def create_clu11(packer, frame, clu11, button, CP): return packer.make_can_msg("CLU11", bus, values) -def create_lfahda_mfc(packer, enabled, hda_set_speed=0): +def create_lfahda_mfc(packer, enabled, lat_active, hda_set_speed=0): values = { - "LFA_Icon_State": 2 if enabled else 0, + "LFA_Icon_State": 2 if lat_active else 0, "HDA_Active": 1 if hda_set_speed else 0, "HDA_Icon_State": 2 if hda_set_speed else 0, "HDA_VSetReq": hda_set_speed, } return packer.make_can_msg("LFAHDA_MFC", 0, values) -def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca): +def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, cruise_available): commands = [] scc11_values = { - "MainMode_ACC": 1, + "MainMode_ACC": 1 if cruise_available else 0, "TauGapSet": hud_control.leadDistanceBars, "VSetDis": set_speed if enabled else 0, "AliveCounterACC": idx % 0x10, diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 54804f94f..c26c42c02 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): values = { "LKA_MODE": 2, - "LKA_ICON": 2 if enabled else 1, + "LKA_ICON": 2 if enabled else 1 if lat_active else 0, # HDA2 "TORQUE_REQUEST": apply_steer, "LKA_ASSIST": 0, "STEER_REQ": 1 if lat_active else 0, @@ -113,10 +113,10 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy): }) return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_lfahda_cluster(packer, CAN, enabled): +def create_lfahda_cluster(packer, CAN, enabled, lat_active): values = { "HDA_ICON": 1 if enabled else 0, - "LFA_ICON": 2 if enabled else 0, + "LFA_ICON": 2 if enabled else 1 if lat_active else 0, # HDA1 } return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index ecedf3fd7..dc875f534 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,4 +1,4 @@ -from cereal import car +from cereal import car, custom from panda import Panda from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ @@ -9,9 +9,13 @@ from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.frogpilot.frogpilot_variables import params + Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise, Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel} @@ -19,7 +23,9 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): + use_new_api = params.get_bool("NewLongAPI") + ret.carName = "hyundai" ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None @@ -71,6 +77,9 @@ class CarInterface(CarInterfaceBase): if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]: ret.flags |= HyundaiFlags.USE_FCA.value + if 0x53E in fingerprint[2]: + ret.flags |= HyundaiFlags.LKAS12.value + ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) @@ -80,8 +89,18 @@ class CarInterface(CarInterfaceBase): # *** longitudinal control *** if candidate in CANFD_CAR: + if not use_new_api: + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] + ret.longitudinalTuning.kpV = [0.1] + ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR) else: + if not use_new_api: + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] + ret.longitudinalTuning.kpV = [0.5] + ret.longitudinalTuning.kiV = [0.0] ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl @@ -95,9 +114,15 @@ class CarInterface(CarInterfaceBase): # *** feature detection *** if candidate in CANFD_CAR: ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] + + if 0x1fa in fingerprint[CAN.ECAN]: + ret.flags |= HyundaiFlags.NAV_MSG.value else: ret.enableBsm = 0x58b in fingerprint[0] + if 0x544 in fingerprint[0]: + ret.flags |= HyundaiFlags.NAV_MSG.value + # *** panda safety config *** if candidate in CANFD_CAR: cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] @@ -123,6 +148,10 @@ class CarInterface(CarInterfaceBase): if candidate in CAMERA_SCC_CAR: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + if 0x391 in fingerprint[0]: + ret.flags |= HyundaiFlags.CAN_LFA_BTN.value + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LFA_BTN + if ret.openpilotLongitudinalControl: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG if ret.flags & HyundaiFlags.HYBRID: @@ -136,6 +165,10 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.4 + # Detect smartMDPS + if 0x2AA in fingerprint[0]: + ret.minSteerSpeed = 0. + return ret @staticmethod @@ -150,17 +183,23 @@ class CarInterface(CarInterfaceBase): if CP.flags & HyundaiFlags.ENABLE_BLINKERS: disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01') - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles) if self.CS.CP.openpilotLongitudinalControl: - ret.buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT) + ret.buttonEvents = [ + *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] + else: + ret.buttonEvents = create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}) # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons # Main button also can trigger an engagement on these cars allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) - events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) + events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.manumatic], + pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: @@ -172,4 +211,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 8cb29c803..df4079449 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -95,6 +95,10 @@ class HyundaiFlags(IntFlag): MIN_STEER_32_MPH = 2 ** 23 + # FrogPilot HKG flags + CAN_LFA_BTN = 2 ** 24 + LKAS12 = 2 ** 25 + NAV_MSG = 2 ** 26 class Footnote(Enum): CANFD = CarFootnote( diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e5762ed52..4871ff5a4 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -3,12 +3,13 @@ import os import numpy as np import tomllib from abc import abstractmethod, ABC +from difflib import SequenceMatcher from enum import StrEnum from typing import Any, NamedTuple from collections.abc import Callable from functools import cache -from cereal import car +from cereal import car, custom from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain @@ -16,11 +17,14 @@ from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.car.values import PLATFORMS -from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction +from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS, V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params, params_memory + ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName @@ -29,10 +33,15 @@ ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 FRICTION_THRESHOLD = 0.3 +NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json') +TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/lat_models') TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml') +# dict used to rename activation functions whose names aren't valid python identifiers +ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'} + GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = { 'P': GearShifter.park, 'PARK': GearShifter.park, 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, @@ -45,6 +54,8 @@ GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = { 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, } +def similarity(s1: str, s2: str) -> float: + return SequenceMatcher(None, s1, s2).ratio() class LatControlInputs(NamedTuple): lateral_acceleration: float @@ -85,6 +96,108 @@ def get_torque_params(): return torque_params +# Twilsonco's Lateral Neural Network Feedforward +class FluxModel: + def __init__(self, params_file, zero_bias=False): + with open(params_file, "r") as f: + params = json.load(f) + + self.input_size = params["input_size"] + self.output_size = params["output_size"] + self.input_mean = np.array(params["input_mean"], dtype=np.float32).T + self.input_std = np.array(params["input_std"], dtype=np.float32).T + self.layers = [] + self.friction_override = False + + for layer_params in params["layers"]: + W = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_W'))], dtype=np.float32).T + b = np.array(layer_params[next(key for key in layer_params.keys() if key.endswith('_b'))], dtype=np.float32).T + if zero_bias: + b = np.zeros_like(b) + activation = layer_params["activation"] + for k, v in ACTIVATION_FUNCTION_NAMES.items(): + activation = activation.replace(k, v) + self.layers.append((W, b, activation)) + + self.validate_layers() + self.check_for_friction_override() + + # Begin activation functions. + # These are called by name using the keys in the model json file + @staticmethod + def sigmoid(x): + return 1 / (1 + np.exp(-x)) + + @staticmethod + def identity(x): + return x + # End activation functions + + def forward(self, x): + for W, b, activation in self.layers: + x = getattr(self, activation)(x.dot(W) + b) + return x + + def evaluate(self, input_array): + in_len = len(input_array) + if in_len != self.input_size: + # If the input is length 2-4, then it's a simplified evaluation. + # In that case, need to add on zeros to fill out the input array to match the correct length. + if 2 <= in_len: + input_array = input_array + [0] * (self.input_size - in_len) + else: + raise ValueError(f"Input array length {len(input_array)} must be length 2 or greater") + + input_array = np.array(input_array, dtype=np.float32) + + # Rescale the input array using the input_mean and input_std + input_array = (input_array - self.input_mean) / self.input_std + + output_array = self.forward(input_array) + + return float(output_array[0, 0]) + + def validate_layers(self): + for W, b, activation in self.layers: + if not hasattr(self, activation): + raise ValueError(f"Unknown activation: {activation}") + + def check_for_friction_override(self): + y = self.evaluate([10.0, 0.0, 0.2]) + self.friction_override = (y < 0.1) + +def get_nn_model_path(car, eps_firmware) -> tuple[str | None, float]: + def check_nn_path(check_model): + model_path = None + max_similarity = -1.0 + for f in os.listdir(TORQUE_NN_MODEL_PATH): + if f.endswith(".json"): + model = f.replace(".json", "").replace(f"{TORQUE_NN_MODEL_PATH}/", "") + similarity_score = similarity(model, check_model) + if similarity_score > max_similarity: + max_similarity = similarity_score + model_path = os.path.join(TORQUE_NN_MODEL_PATH, f) + return model_path, max_similarity + + if len(eps_firmware) > 3: + eps_firmware = eps_firmware.replace("\\", "") + check_model = f"{car} {eps_firmware}" + else: + check_model = car + model_path, max_similarity = check_nn_path(check_model) + if car not in model_path or 0.0 <= max_similarity < 0.9: + check_model = car + model_path, max_similarity = check_nn_path(check_model) + if car not in model_path or 0.0 <= max_similarity < 0.9: + model_path = None + return model_path + +def get_nn_model(car, eps_firmware) -> tuple[FluxModel | None, float]: + model = get_nn_model_path(car, eps_firmware) + if model is not None: + model = FluxModel(model) + return model + # generic car and radar interfaces class CarInterfaceBase(ABC): @@ -110,8 +223,44 @@ class CarInterfaceBase(ABC): dbc_name = "" if self.cp is None else self.cp.dbc_name self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM) - def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]: - return self.CC.update(c, self.CS, now_nanos) + # FrogPilot variables + self.frogpilot_toggles = get_frogpilot_toggles() + + eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")) + + comma_nnff_supported = self.check_comma_nn_ff_support(CP.carFingerprint) + nnff_supported = self.initialize_lat_torque_nn(CP.carFingerprint, eps_firmware) + + self.use_nnff = not comma_nnff_supported and nnff_supported and self.frogpilot_toggles.nnff + self.use_nnff_lite = not self.use_nnff and self.frogpilot_toggles.nnff_lite + + self.always_on_lateral_disabled = False + self.belowSteerSpeed_shown = False + self.disable_belowSteerSpeed = False + self.disable_resumeRequired = False + self.prev_distance_button = False + self.resumeRequired_shown = False + self.traffic_mode_active = False + self.traffic_mode_changed = False + + self.gap_counter = 0 + + self.is_gm = self.CP.carName == "gm" + + def get_ff_nn(self, x): + return self.lat_torque_nn_model.evaluate(x) + + def check_comma_nn_ff_support(self, car): + with open(NEURAL_PARAMS_PATH, 'r') as file: + data = json.load(file) + return car in data + + def initialize_lat_torque_nn(self, car, eps_firmware) -> bool: + self.lat_torque_nn_model = get_nn_model(car, eps_firmware) + return self.lat_torque_nn_model is not None + + def apply(self, c: car.CarControl, now_nanos: int, frogpilot_toggles) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]: + return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles) @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): @@ -122,10 +271,10 @@ class CarInterfaceBase(ABC): """ Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints. """ - return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) + return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False) @classmethod - def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): + def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], disable_openpilot_long: bool, experimental_long: bool, params: params, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) platform = PLATFORMS[candidate] @@ -138,7 +287,15 @@ class CarInterfaceBase(ABC): ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor ret.flags |= int(platform.config.flags) - ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) + ret = cls._get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs) + + # Enable torque controller for all cars that do not use angle based steering + if ret.steerControlType != car.CarParams.SteerControlType.angle and params.get_bool("LateralTune") and params.get_bool("NNFF"): + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + eps_firmware = str(next((fw.fwVersion for fw in car_fw if fw.ecu == "eps"), "")) + model = get_nn_model_path(candidate, eps_firmware) + if model is not None: + params.put("NNFFModelName", candidate.replace("_", " ")) # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload if not ret.notCar: @@ -230,14 +387,14 @@ class CarInterfaceBase(ABC): def _update(self, c: car.CarControl) -> car.CarState: pass - def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState: + def update(self, c: car.CarControl, can_strings: list[bytes], frogpilot_toggles) -> car.CarState: # parse can for cp in self.can_parsers: if cp is not None: cp.update_strings(can_strings) # get CarState - ret = self._update(c) + ret, fp_ret = self._update(c, frogpilot_toggles) ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None) ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None) @@ -256,11 +413,18 @@ class CarInterfaceBase(ABC): if ret.cruiseState.speedCluster == 0: ret.cruiseState.speedCluster = ret.cruiseState.speed + # Add any additional frogpilotCarStates + fp_ret.alwaysOnLateralDisabled = self.always_on_lateral_disabled + fp_ret.distanceLongPressed = self.frogpilot_distance_functions(frogpilot_toggles) + fp_ret.ecoGear |= ret.gearShifter == GearShifter.eco + fp_ret.sportGear |= ret.gearShifter == GearShifter.sport + fp_ret.trafficModeActive = self.traffic_mode_active + # copy back for next iteration if self.CS is not None: self.CS.out = ret.as_reader() - return ret + return ret, fp_ret def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True, @@ -310,6 +474,10 @@ class CarInterfaceBase(ABC): if b.type == ButtonType.cancel: events.add(EventName.buttonCancel) + # FrogPilot button presses + if b.type == FrogPilotButtonType.lkas and b.pressed: + self.always_on_lateral_disabled = not self.always_on_lateral_disabled + # Handle permanent and temporary steering faults self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 if cs_out.steerFaultTemporary: @@ -340,6 +508,30 @@ class CarInterfaceBase(ABC): return events + def frogpilot_distance_functions(self, frogpilot_toggles): + distance_button = self.CS.distance_button or params_memory.get_bool("OnroadDistanceButtonPressed") + + if distance_button: + self.gap_counter += 1 + elif not self.prev_distance_button: + self.gap_counter = 0 + + if self.gap_counter == CRUISE_LONG_PRESS * (1.5 if self.is_gm else 1) and frogpilot_toggles.experimental_mode_via_distance or self.traffic_mode_changed: + if frogpilot_toggles.conditional_experimental_mode: + conditional_status = params_memory.get_int("CEStatus") + override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 1 if conditional_status >= 7 else 2 + params_memory.put_int("CEStatus", override_value) + else: + experimental_mode = params.get_bool("ExperimentalMode") + params.put_bool("ExperimentalMode", not experimental_mode) + self.traffic_mode_changed = False + + if self.gap_counter == CRUISE_LONG_PRESS * 5: + self.traffic_mode_active = not self.traffic_mode_active + self.traffic_mode_changed = frogpilot_toggles.experimental_mode_via_distance + + self.prev_distance_button = distance_button + return self.gap_counter >= CRUISE_LONG_PRESS class RadarInterfaceBase(ABC): def __init__(self, CP): @@ -379,6 +571,12 @@ class CarStateBase(ABC): K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R) self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K) + # FrogPilot variables + self.cruise_decreased = False + self.cruise_increased = False + self.distance_button = False + self.lkas_enabled = False + def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed self.v_ego_kf.set_x([[v_ego_raw], [0.0]]) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 3d4163487..b38ea72e4 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -16,7 +16,7 @@ class CarController(CarControllerBase): self.brake_counter = 0 self.frame = 0 - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): can_sends = [] apply_steer = 0 diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 83b238fb6..b7a64659a 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -1,4 +1,4 @@ -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser @@ -21,9 +21,10 @@ class CarState(CarStateBase): self.prev_distance_button = 0 self.distance_button = 0 - def update(self, cp, cp_cam): + def update(self, cp, cp_cam, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() self.prev_distance_button = self.distance_button self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"] @@ -110,7 +111,11 @@ class CarState(CarStateBase): self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"] ret.steerFaultPermanent = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1 - return ret + # FrogPilot CarState functions + self.lkas_previously_enabled = self.lkas_enabled + self.lkas_enabled = not self.lkas_disabled + + return ret, fp_ret @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 6992d49ff..9f46274b7 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -1,23 +1,22 @@ #!/usr/bin/env python3 -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarUnavailable = True - ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021) - ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 @@ -31,11 +30,14 @@ class CarInterface(CarInterfaceBase): return ret # returns a car.CarState - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles) # TODO: add button types for inc and dec - ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + ret.buttonEvents = [ + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] # events events = self.create_common_events(ret) @@ -47,4 +49,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 7506bab05..414bcd455 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from cereal import car +from cereal import car, custom import cereal.messaging as messaging from openpilot.selfdrive.car.interfaces import CarInterfaceBase @@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase): self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "mock" ret.mass = 1700. ret.wheelbase = 2.70 @@ -21,12 +21,13 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = True return ret - def _update(self, c): + def _update(self, c, frogpilot_toggles): self.sm.update(0) gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() ret.vEgo = self.sm[gps_sock].speed ret.vEgoRaw = self.sm[gps_sock].speed - return ret + return ret, fp_ret diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index c7bd23139..187010961 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -19,7 +19,7 @@ class CarController(CarControllerBase): self.packer = CANPacker(dbc_name) - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel @@ -68,7 +68,7 @@ class CarController(CarControllerBase): if self.CP.carFingerprint != CAR.NISSAN_ALTIMA: if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index 57146b49c..3a67c59e4 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -1,6 +1,6 @@ import copy from collections import deque -from cereal import car +from cereal import car, custom from opendbc.can.can_define import CANDefine from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.common.conversions import Conversions as CV @@ -23,8 +23,9 @@ class CarState(CarStateBase): self.prev_distance_button = 0 self.distance_button = 0 - def update(self, cp, cp_adas, cp_cam): + def update(self, cp, cp_adas, cp_cam, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() self.prev_distance_button = self.distance_button self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"] @@ -107,6 +108,7 @@ class CarState(CarStateBase): can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) + self.lkas_previously_enabled = self.lkas_enabled if self.CP.carFingerprint == CAR.NISSAN_ALTIMA: self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) else: @@ -121,7 +123,7 @@ class CarState(CarStateBase): self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"]) self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"]) - return ret + return ret, fp_ret @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 2e9a99061..e1addf0e2 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,16 +1,17 @@ -from cereal import car +from cereal import car, custom from panda import Panda from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.nissan.values import CAR ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "nissan" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] ret.autoResumeSng = False @@ -29,10 +30,13 @@ class CarInterface(CarInterfaceBase): return ret # returns a car.CarState - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam, frogpilot_toggles) - ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + ret.buttonEvents = [ + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake]) @@ -41,4 +45,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index b9a1b4f84..676ed89bf 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -65,7 +65,7 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel): return packer.make_can_msg("CANCEL_MSG", 2, values) -def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart): +def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart, lat_active): values = {s: lkas_hud_msg[s] for s in [ "LARGE_WARNING_FLASHING", "SIDE_RADAR_ERROR_FLASHING1", @@ -98,9 +98,9 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0 values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0 - values["LARGE_STEERING_WHEEL_ICON"] = 2 if enabled else 0 - values["RIGHT_LANE_GREEN"] = 1 if right_line and enabled else 0 - values["LEFT_LANE_GREEN"] = 1 if left_line and enabled else 0 + values["LARGE_STEERING_WHEEL_ICON"] = 2 if lat_active else 0 + values["RIGHT_LANE_GREEN"] = 1 if right_line and lat_active else 0 + values["LEFT_LANE_GREEN"] = 1 if left_line and lat_active else 0 return packer.make_can_msg("PROPILOT_HUD", 0, values) diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index eecffb21b..a19b93fc9 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -48,7 +48,11 @@ class CAR(Platforms): ) # Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Currently the only known difference between them is the inverted seatbelt signal. - NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[]) + NISSAN_LEAF_IC = NissanPlatformConfig( + [NissanCarDocs("Nissan Leaf 2018-23 - Instrument Cluster", video_link="https://youtu.be/vaMbtAh_0cY")], + NISSAN_LEAF.specs, + dbc_dict('nissan_leaf_2018_generated', None), + ) NISSAN_ROGUE = NissanPlatformConfig( [NissanCarDocs("Nissan Rogue 2018-20")], NissanCarSpecs(mass=1610, wheelbase=2.705) diff --git a/selfdrive/car/secoc.py b/selfdrive/car/secoc.py new file mode 100644 index 000000000..971ea36a1 --- /dev/null +++ b/selfdrive/car/secoc.py @@ -0,0 +1,47 @@ +import struct + +from Crypto.Hash import CMAC +from Crypto.Cipher import AES + +def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg): + # TODO: clean up conversion to and from hex + + addr, payload, bus = msg + reset_flag = reset_cnt & 0b11 + msg_cnt_flag = msg_cnt & 0b11 + payload = payload[:4] + + # Step 1: Build Freshness Value (48 bits) + # [Trip Counter (16 bit)][[Reset Counter (20 bit)][Message Counter (8 bit)][Reset Flag (2 bit)][Padding (2 bit)] + freshness_value = struct.pack('>HI', trip_cnt, (reset_cnt << 12) | ((msg_cnt & 0xff) << 4) | (reset_flag << 2)) + + # Step 2: Build data to authenticate (96 bits) + # [Message ID (16 bits)][Payload (32 bits)][Freshness Value (48 bits)] + to_auth = struct.pack('>H', addr) + payload + freshness_value + + # Step 3: Calculate CMAC (28 bit) + cmac = CMAC.new(key, ciphermod=AES) + cmac.update(to_auth) + mac = cmac.digest().hex()[:7] # truncated MAC + + # Step 4: Build message + # [Payload (32 bit)][Message Counter Flag (2 bit)][Reset Flag (2 bit)][Authenticator (28 bit)] + msg_cnt_rst_flag = struct.pack('>B', (msg_cnt_flag << 2) | reset_flag).hex()[1] + msg = payload.hex() + msg_cnt_rst_flag + mac + payload = bytes.fromhex(msg) + + return (addr, payload, bus) + +def build_sync_mac(key, trip_cnt, reset_cnt, id_=0xf): + id_ = struct.pack('>H', id_) # 16 + trip_cnt = struct.pack('>H', trip_cnt) # 16 + reset_cnt = struct.pack('>I', reset_cnt << 12)[:-1] # 20 + 4 padding + + to_auth = id_ + trip_cnt + reset_cnt # SecOC 11.4.1.1 page 138 + + cmac = CMAC.new(key, ciphermod=AES) + cmac.update(to_auth) + + msg = "0" + cmac.digest().hex()[:7] + msg = bytes.fromhex(msg) + return struct.unpack('>I', msg)[0] diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index d89ae8c63..b6239366c 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -23,7 +23,7 @@ class CarController(CarControllerBase): self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel @@ -100,7 +100,7 @@ class CarController(CarControllerBase): can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.latActive)) if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert)) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 821ff2c15..b6fe64bbb 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -1,10 +1,10 @@ import copy -from cereal import car +from cereal import car, custom from opendbc.can.can_define import CANDefine from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags +from openpilot.selfdrive.car.subaru.values import DBC, CanBus, PREGLOBAL_CARS, SubaruFlags from openpilot.selfdrive.car import CanSignalRateCalculator @@ -16,8 +16,9 @@ class CarState(CarStateBase): self.angle_rate_calulator = CanSignalRateCalculator(50) - def update(self, cp, cp_cam, cp_body): + def update(self, cp, cp_cam, cp_body, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"] ret.gas = throttle_msg["Throttle_Pedal"] / 255. @@ -125,7 +126,15 @@ class CarState(CarStateBase): if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"]) - return ret + # FrogPilot CarState functions + self.lkas_previously_enabled = self.lkas_enabled + if self.car_fingerprint not in PREGLOBAL_CARS: + fp_ret.brakeLights = bool(cp_cam.vl["ES_DashStatus"]["Brake_Lights"]) + self.lkas_enabled = self.es_lkas_state_msg.get("LKAS_Dash_State") + else: + fp_ret.brakeLights = bool(cp_cam.vl["ES_Brake"]["Cruise_Brake_Lights"]) + + return ret, fp_ret @staticmethod def get_common_global_body_messages(CP): @@ -196,6 +205,7 @@ class CarState(CarStateBase): messages = [ ("ES_DashStatus", 20), ("ES_Distance", 20), + ("ES_Brake", 20), ] else: messages = [ @@ -226,4 +236,3 @@ class CarState(CarStateBase): ] return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt) - diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index cb0093437..654668281 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,22 +1,25 @@ -from cereal import car +from cereal import car, custom from panda import Panda -from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.disable_ecu import disable_ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles + +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True # for HYBRID CARS to be upstreamed, we need: # - replacement for ES_Distance so we can cancel the cruise control # - to find the Cruise_Activated bit from the car # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) - ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) + ret.dashcamOnly = bool(ret.flags & (SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) ret.autoResumeSng = False # Detect infotainment message sent from the camera @@ -50,9 +53,9 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.SUBARU_IMPREZA: ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.init('pid') - ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kf = 0.00003333 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.133, 0.2], [0.0133, 0.02]] elif candidate == CAR.SUBARU_IMPREZA_2020: ret.lateralTuning.init('pid') @@ -97,13 +100,17 @@ class CarInterface(CarInterfaceBase): return ret # returns a car.CarState - def _update(self, c): + def _update(self, c, frogpilot_toggles): - ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_toggles) + + ret.buttonEvents = [ + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] ret.events = self.create_common_events(ret).to_msg() - return ret + return ret, fp_ret @staticmethod def init(CP, logcan, sendcan): diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 86d39ff88..4036d7c61 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -66,7 +66,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): +def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart, lat_active): values = {s: es_lkas_state_msg[s] for s in [ "CHECKSUM", "LKAS_Alert_Msg", @@ -118,9 +118,11 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert elif right_lane_depart: values["LKAS_Alert"] = 11 # Right lane departure dash alert - if enabled: + if lat_active: values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines values["LKAS_Dash_State"] = 2 # Green enabled indicator + values["LKAS_Left_Line_Enable"] = 1 + values["LKAS_Right_Line_Enable"] = 1 else: values["LKAS_Dash_State"] = 0 # LKAS Not enabled diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index dcbea1979..ae09350fd 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -7,6 +7,8 @@ from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles + Ecu = car.CarParams.Ecu @@ -25,6 +27,8 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 40 elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020: self.STEER_MAX = 1439 + elif CP.carFingerprint == CAR.SUBARU_IMPREZA: + self.STEER_MAX = 3071 else: self.STEER_MAX = 2047 @@ -208,6 +212,8 @@ class CAR(Platforms): ) +PREGLOBAL_CARS = {CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_LEGACY_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018} + SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index e460111e3..3ad189f36 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -15,7 +15,7 @@ class CarController(CarControllerBase): self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt']) self.tesla_can = TeslaCAN(self.packer, self.pt_packer) - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators pcm_cancel_cmd = CC.cruiseControl.cancel diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 645ea4601..315dcd594 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -1,6 +1,6 @@ import copy from collections import deque -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS from openpilot.selfdrive.car.interfaces import CarStateBase @@ -20,8 +20,9 @@ class CarState(CarStateBase): self.acc_state = 0 self.das_control_counters = deque(maxlen=32) - def update(self, cp, cp_cam): + def update(self, cp, cp_cam, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() # Vehicle speed ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS @@ -102,7 +103,7 @@ class CarState(CarStateBase): self.acc_state = cp_cam.vl["DAS_control"]["DAS_accState"] self.das_control_counters.extend(cp_cam.vl_all["DAS_control"]["DAS_controlCounter"]) - return ret + return ret, fp_ret @staticmethod def get_can_parser(CP): diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index deb0e0023..0c8a1d69c 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -8,7 +8,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "tesla" # There is no safe way to do steer blending with user torque, @@ -25,7 +25,7 @@ class CarInterface(CarInterfaceBase): # If so, we assume that it is connected to the longitudinal harness. flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0) if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()): - ret.openpilotLongitudinalControl = True + ret.openpilotLongitudinalControl = not disable_openpilot_long flags |= Panda.FLAG_TESLA_LONG_CONTROL ret.safetyConfigs = [ get_safety_config(car.CarParams.SafetyModel.tesla, flags), @@ -39,9 +39,9 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.25 return ret - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles) ret.events = self.create_common_events(ret).to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index dd3a8f633..3ab4047c7 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -295,6 +295,8 @@ routes = [ CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN), # Segments that test specific issues + # Controls mismatch due to interceptor threshold + CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21), # Controls mismatch due to standstill threshold CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22), ] diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index a6f74d685..f20a56bfe 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -76,6 +76,10 @@ class TestCarInterfaces: assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) + # If we're using the interceptor for gasPressed, we should be commanding gas with it + if car_params.enableGasInterceptor: + self.assertTrue(car_params.openpilotLongitudinalControl) + # Lateral sanity checks if car_params.steerControlType != car.CarParams.SteerControlType.angle: tune = car_params.lateralTuning diff --git a/selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json b/selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json new file mode 100644 index 000000000..68c6079ae --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/ACURA_RDX_3G.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json b/selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json new file mode 100644 index 000000000..61fac1337 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/AUDI_A3_MK3.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/VOLKSWAGEN_TIGUAN_MK2.json b/selfdrive/car/torque_data/lat_models/VOLKSWAGEN_TIGUAN_MK2.json new file mode 100644 index 000000000..2f0c99541 --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/VOLKSWAGEN_TIGUAN_MK2.json @@ -0,0 +1 @@ +{"input_std":[[8.782441],[1.1398275],[0.4609802],[0.04271673],[1.1238744],[1.1299343],[1.1346341],[1.1119426],[1.0859472],[1.0505929],[1.01332],[0.042612497],[0.042648252],[0.042672537],[0.042585343],[0.042469293],[0.042215183],[0.04179356]],"model_test_loss":0.018630679696798325,"input_size":18,"current_date_and_time":"2023-08-14_01-59-38","input_mean":[[22.468307],[-0.0059960946],[-0.008688168],[-0.003941978],[-0.004109974],[-0.0052409726],[-0.0066701453],[-0.010034277],[-0.013358513],[-0.011732898],[-0.0112503925],[-0.0039730547],[-0.0039907545],[-0.004007257],[-0.0040642004],[-0.004142748],[-0.004199409],[-0.0042553144]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.22421235],[0.022291217],[0.015709542],[-0.04664034],[-0.036350474],[-0.24544194],[-0.04896989]],"dense_1_W":[[-0.015455264,0.35899833,6.998555,0.81398284,0.34668404,0.50750834,-0.30584475,0.6416511,-0.5377552,-0.026296293,-0.6502898,0.43909717,-0.27295533,-0.76501244,-0.5884351,0.22982346,-0.26877192,0.26560456],[-0.01508568,1.8268416,0.00402336,0.2784217,-0.7716931,0.46446714,-0.11456723,0.10766974,0.30401927,-0.085616745,-0.15998937,0.44400185,-0.48933145,-0.23811713,-0.440158,-0.10242332,0.051594254,0.12977812],[-0.009739386,-2.6971612,0.001168384,-0.35022622,0.65414,-0.717214,-0.44903016,-0.49311733,-0.43150806,0.06219255,0.23182331,-0.44158918,-0.49226075,0.47947824,0.6467593,0.34515625,0.09018108,-0.47900265],[1.0840801,-0.7623997,-0.005088885,-0.52213657,-0.22831856,-0.6294846,-1.2465742,0.3222685,0.020507088,-0.024931427,-0.24259277,0.08206772,0.21676067,-0.41708487,0.50989604,0.33494267,-0.079637915,-0.14551927],[0.004391417,-0.10370217,0.0014306986,-0.072918385,-0.63637805,-1.1973468,0.5230291,-0.05261172,0.25703079,0.041062124,-0.34666935,0.0939909,-0.48456657,0.08325979,0.5252982,-0.10210225,-0.12507002,0.05711295],[-0.010150519,0.47018084,1.575968,-0.12638067,0.58264244,1.1620525,-0.6418302,-0.022278491,0.5091847,-0.16685116,0.074821465,0.22004989,-0.099773616,-0.5007223,-0.09964562,0.46015504,0.21582201,-0.23595089],[1.1357191,0.7709306,0.003718608,0.6016892,0.7352459,0.33387783,1.0426474,0.12312558,-0.49904007,0.032169387,0.37637976,-0.05813148,-0.49427262,0.49914685,-0.2028158,-0.5950836,0.2782391,0.028333709]],"activation":"σ"},{"dense_2_W":[[0.43099108,-0.40067255,0.15829495,-0.48378208,0.396984,-0.1558594,-0.1562694],[0.6452132,0.40809157,-0.5897283,1.2150947,-0.6793519,0.78984624,0.66217726],[-1.0487145,-0.15708125,0.48070663,-1.294668,0.44506454,-1.0924927,-1.3423347],[-0.0905496,-0.39283985,-0.560608,-0.4611327,-0.3925291,0.005858116,0.5098873],[-1.3053528,-0.17654762,1.1515645,1.4426079,1.0838766,-0.6442153,1.756127],[-0.34371176,1.1574818,0.017585738,0.20476972,-0.463017,-0.22401343,-0.5996214],[0.20533562,0.79994386,-0.8060774,0.17529243,-0.38612595,0.03759143,-0.22778784],[-0.10523058,1.0248777,-0.5244927,0.58016795,-0.48161384,0.2411753,-0.3102547],[0.041490827,-0.12094459,0.44139338,0.123947956,0.5913839,-0.50927347,0.82576096],[-0.17784683,-0.7949691,0.6407812,0.36980206,-0.045769464,-0.15805046,0.27670377],[0.13153441,-0.9403638,0.2306892,-0.18441507,0.34671855,-0.074668296,0.5032],[-0.04615598,0.71520805,-0.0030287886,-0.17552495,-0.19403128,0.21251689,0.24918763],[0.2859375,-0.5510105,0.31645826,-0.15235336,0.62049425,0.14673771,0.11173112]],"activation":"σ","dense_2_b":[[-0.20544042],[0.14436114],[-0.12040931],[-0.16554375],[0.36716554],[0.17168364],[-0.065600924],[-0.01176559],[-0.03528442],[0.037511505],[-0.11677802],[-0.035834227],[-0.17063564]]},{"dense_3_W":[[-0.3723276,0.4951858,-0.17594789,0.31653145,-0.09435181,0.45912716,-0.30004933,0.41055498,-0.21392249,0.35937718,-0.10425309,-0.2715391,-0.5834551],[-0.25541237,-0.58331114,0.4694298,-0.14703207,0.7632458,-0.35720977,-0.26993504,-0.5713957,0.020457853,0.012436012,-0.049483325,0.1666998,0.33925256],[0.45550138,0.12273135,0.51411545,0.43389788,0.0037848332,-0.41984108,-0.10243085,-0.56994265,0.24741924,0.44959965,0.5980098,-0.37595576,0.34953722]],"activation":"identity","dense_3_b":[[0.048041742],[-0.07375918],[-0.090859294]]},{"dense_4_W":[[0.09198451,-1.1679362,-0.9176557]],"dense_4_b":[[0.08128402]],"activation":"identity"}]} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 4610f590d..b37817b4c 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -44,6 +44,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2] "CADILLAC_XT4" = [1.45, 1.6, 0.2] "CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05] +"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075] "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112] "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16] "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18] diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml index 34cfd0e06..b0ac39f39 100644 --- a/selfdrive/car/torque_data/params.toml +++ b/selfdrive/car/torque_data/params.toml @@ -14,6 +14,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265] "HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] "HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] +"HONDA_CLARITY" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] "HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] "HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] "HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml index 310e9c5be..1525bf114 100644 --- a/selfdrive/car/torque_data/substitute.toml +++ b/selfdrive/car/torque_data/substitute.toml @@ -9,6 +9,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA" "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS" +"TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2" +"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2" "LEXUS_IS" = "LEXUS_NX" "LEXUS_CTH" = "LEXUS_NX" "LEXUS_ES" = "TOYOTA_CAMRY" @@ -61,8 +63,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO" "CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO" "GMC_YUKON_CC" = "CHEVROLET_SILVERADO" +"CHEVROLET_TRAX" = "CHEVROLET_VOLT" "CADILLAC_CT6_CC" = "CHEVROLET_VOLT" -"CADILLAC_XT5_CC" = "CHEVROLET_EQUINOX" +"CADILLAC_XT5_CC" = "GMC_ACADIA" "SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7" "SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3" diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index f9b7a478e..bda632f4e 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,16 +1,35 @@ +import math +import numpy as np + from cereal import car -from openpilot.common.numpy_fast import clip -from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import carlog, apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, create_gas_interceptor_command, make_can_msg, rate_limit +from openpilot.selfdrive.car.secoc import add_mac, build_sync_mac from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.toyota import toyotacan from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ - CarControllerParams, ToyotaFlags, \ - UNSUPPORTED_DSU_CAR + MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \ + UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR +from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS +from openpilot.selfdrive.controls.lib.pid import PIDController from opendbc.can.packer import CANPacker +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel + +LongCtrlState = car.CarControl.Actuators.LongControlState SteerControlType = car.CarParams.SteerControlType VisualAlert = car.CarControl.HUDControl.VisualAlert +ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2 + +# The up limit allows the brakes/gas to unwind quickly leaving a stop, +# the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup +ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3 # m/s^2 / frame +ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3 # m/s^2 / frame +ACCEL_PID_UNWIND = 0.03 * DT_CTRL * 3 # m/s^2 / frame + # LKA limits # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long MAX_STEER_RATE = 100 # deg/s @@ -24,6 +43,20 @@ MAX_USER_TORQUE = 500 MAX_LTA_ANGLE = 94.9461 # deg MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows some resistance when changing lanes +# Lock / unlock door commands - Credit goes to AlexandreSato! +LOCK_CMD = b"\x40\x05\x30\x11\x00\x80\x00\x00" +UNLOCK_CMD = b"\x40\x05\x30\x11\x00\x40\x00\x00" + +PARK = car.CarState.GearShifter.park + +def get_long_tune(CP, params): + kiBP = [2., 5.] + kiV = [0.5, 0.25] + + return PIDController(0.0, (kiBP, kiV), k_f=1.0, + pos_limit=params.ACCEL_MAX, neg_limit=params.ACCEL_MIN, + rate=1 / (DT_CTRL * 3)) + class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): @@ -35,22 +68,66 @@ class CarController(CarControllerBase): self.alert_active = False self.last_standstill = False self.standstill_req = False + self.permit_braking = True self.steer_rate_counter = 0 self.distance_button = 0 + # *** start long control state *** + self.long_pid = get_long_tune(self.CP, self.params) + + self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3) + self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL) + + self.accel = 0 + self.prev_accel = 0 + # *** end long control state *** + self.packer = CANPacker(dbc_name) - self.gas = 0 - self.accel = 0 + + self.secoc_lka_message_counter = 0 + self.secoc_lta_message_counter = 0 + self.secoc_prev_reset_counter = 0 + + # FrogPilot variables + self.stock_max_accel = self.params.ACCEL_MAX + + self.doors_locked = False + self.reverse_cruise_active = False + + self.cruise_timer = 0 + self.previous_set_speed = 0 + + def update(self, CC, CS, now_nanos, frogpilot_toggles): + if frogpilot_toggles.sport_plus: + self.params.ACCEL_MAX = min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)) + self.long_pid.pos_limit = self.params.ACCEL_MAX + else: + self.params.ACCEL_MAX = min(frogpilot_toggles.max_desired_acceleration, self.stock_max_accel) + self.long_pid.pos_limit = self.params.ACCEL_MAX - def update(self, CC, CS, now_nanos): actuators = CC.actuators + stopping = actuators.longControlState == LongCtrlState.stopping hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE + if len(CC.orientationNED) == 3: + self.pitch.update(CC.orientationNED[1]) + # *** control msgs *** can_sends = [] + # *** handle secoc reset counter increase *** + if self.CP.flags & ToyotaFlags.SECOC.value: + if CS.secoc_synchronization['RESET_CNT'] != self.secoc_prev_reset_counter: + self.secoc_lka_message_counter = 0 + self.secoc_lta_message_counter = 0 + self.secoc_prev_reset_counter = CS.secoc_synchronization['RESET_CNT'] + + expected_mac = build_sync_mac(self.secoc_key, int(CS.secoc_synchronization['TRIP_CNT']), int(CS.secoc_synchronization['RESET_CNT'])) + if int(CS.secoc_synchronization['AUTHENTICATOR']) != expected_mac: + carlog.error("SecOC synchronization MAC mismatch, wrong key?") + # *** steer torque *** new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params) @@ -84,7 +161,16 @@ class CarController(CarControllerBase): # toyota can trace shows STEERING_LKA at 42Hz, with counter adding alternatively 1 and 2; # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed # on consecutive messages - can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req)) + steer_command = toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req) + if self.CP.flags & ToyotaFlags.SECOC.value: + # TODO: check if this slow and needs to be done by the CANPacker + steer_command = add_mac(self.secoc_key, + int(CS.secoc_synchronization['TRIP_CNT']), + int(CS.secoc_synchronization['RESET_CNT']), + self.secoc_lka_message_counter, + steer_command) + self.secoc_lka_message_counter += 1 + can_sends.append(steer_command) # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: @@ -99,13 +185,44 @@ class CarController(CarControllerBase): can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle, lta_active, self.frame // 2, torque_wind_down)) + if self.CP.flags & ToyotaFlags.SECOC.value: + lta_steer_2 = toyotacan.create_lta_steer_command_2(self.packer, self.frame // 2) + lta_steer_2 = add_mac(self.secoc_key, + int(CS.secoc_synchronization['TRIP_CNT']), + int(CS.secoc_synchronization['RESET_CNT']), + self.secoc_lta_message_counter, + lta_steer_2) + self.secoc_lta_message_counter += 1 + can_sends.append(lta_steer_2) + # *** gas and brake *** - pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX) + if self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint not in STOP_AND_GO_CAR: + MAX_INTERCEPTOR_GAS = 0.5 + # RAV4 has very sensitive gas pedal + if self.CP.carFingerprint == CAR.TOYOTA_RAV4: + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0]) + elif self.CP.carFingerprint == CAR.TOYOTA_COROLLA: + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0]) + else: + PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0]) + # offset for creep and windbrake + pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2]) + pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset) + interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS) + elif self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint in STOP_AND_GO_CAR and actuators.accel > 0.0: + interceptor_gas_cmd = 0.12 if CS.out.standstill else 0. + else: + interceptor_gas_cmd = 0. + + if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: + # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. + # This prevents unexpected pedal range rescaling + can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2)) # on entering standstill, send standstill request - if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR): + if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor): self.standstill_req = True - if CS.pcm_acc_status != 8: + if CS.pcm_acc_status != 8 or frogpilot_toggles.sng_hack: # pcm entered standstill or it's disabled self.standstill_req = False @@ -114,28 +231,77 @@ class CarController(CarControllerBase): # handle UI messages fcw_alert = hud_control.visualAlert == VisualAlert.fcw steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged - # we can spam can to cancel the system even if we are using lat only control - if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd: - lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged + if self.CP.openpilotLongitudinalControl: + if self.frame % 3 == 0: + # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup + if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl: + desired_distance = 4 - hud_control.leadDistanceBars + if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance: + self.distance_button = not self.distance_button + else: + self.distance_button = 0 - # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup - if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl: - desired_distance = 4 - hud_control.leadDistanceBars - if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance: - self.distance_button = not self.distance_button + # internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit + pcm_accel_cmd = actuators.accel + if CC.longActive: + pcm_accel_cmd = rate_limit(pcm_accel_cmd, self.prev_accel, ACCEL_WINDDOWN_LIMIT, ACCEL_WINDUP_LIMIT) + self.prev_accel = pcm_accel_cmd + + # calculate amount of acceleration PCM should apply to reach target, given pitch. + # clipped to only include downhill angles, avoids erroneously unsetting PERMIT_BRAKING when stopping on uphills + accel_due_to_pitch = math.sin(min(self.pitch.x, 0.0)) * ACCELERATION_DUE_TO_GRAVITY + # TODO: on uphills this sometimes sets PERMIT_BRAKING low not considering the creep force + net_acceleration_request = pcm_accel_cmd + accel_due_to_pitch + + # GVC does not overshoot ego acceleration when starting from stop, but still has a similar delay + if not self.CP.flags & ToyotaFlags.SECOC.value: + a_ego_blended = interp(CS.out.vEgo, [1.0, 2.0], [CS.gvc, CS.out.aEgo]) else: - self.distance_button = 0 + a_ego_blended = CS.out.aEgo - # Lexus IS uses a different cancellation message - if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: - can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) - elif self.CP.openpilotLongitudinalControl: - can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, - self.distance_button)) + # wind down integral when approaching target for step changes and smooth ramps to reduce overshoot + prev_aego = self.aego.x + self.aego.update(a_ego_blended) + j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3) + + future_t = float(np.interp(CS.out.vEgo, [2., 5.], [0.25, 0.5])) + a_ego_future = a_ego_blended + j_ego * future_t + + if CC.longActive: + # constantly slowly unwind integral to recover from large temporary errors + self.long_pid.i -= ACCEL_PID_UNWIND * float(np.sign(self.long_pid.i)) + + error_future = pcm_accel_cmd - a_ego_future + pcm_accel_cmd = self.long_pid.update(error_future, + speed=CS.out.vEgo, + feedforward=pcm_accel_cmd, + freeze_integrator=actuators.longControlState != LongCtrlState.pid) + else: + self.long_pid.reset() + + # Along with rate limiting positive jerk above, this greatly improves gas response time + # Consider the net acceleration request that the PCM should be applying (pitch included) + net_acceleration_request_min = min(actuators.accel + accel_due_to_pitch, net_acceleration_request) + if net_acceleration_request_min < 0.2 or stopping or not CC.longActive: + self.permit_braking = True + elif net_acceleration_request_min > 0.3: + self.permit_braking = False + + pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX) + + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead, + CS.acc_type, fcw_alert, self.distance_button, self.reverse_cruise_active)) self.accel = pcm_accel_cmd - else: - can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button)) + + else: + # we can spam can to cancel the system even if we are using lat only control + if pcm_cancel_cmd: + if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: + can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) + else: + can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button, self.reverse_cruise_active)) # *** hud ui *** if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: @@ -154,7 +320,7 @@ class CarController(CarControllerBase): if self.frame % 20 == 0 or send_ui: can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) + hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud, lat_active)) if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) @@ -173,7 +339,27 @@ class CarController(CarControllerBase): new_actuators.steerOutputCan = apply_steer new_actuators.steeringAngleDeg = self.last_angle new_actuators.accel = self.accel - new_actuators.gas = self.gas + + # FrogPilot Toyota carcontroller functions + if False: #self.previous_set_speed != CS.out.cruiseState.speedCluster: + self.cruise_timer = CRUISE_LONG_PRESS + elif self.cruise_timer > 0: + self.cruise_timer -= 1 + else: + self.previous_set_speed = CS.out.cruiseState.speedCluster + + # Lock doors when in drive / unlock doors when in park + if not self.doors_locked and CS.out.gearShifter != PARK: + if frogpilot_toggles.lock_doors: + can_sends.append(make_can_msg(0x750, LOCK_CMD, 0)) + self.doors_locked = True + elif self.doors_locked and CS.out.gearShifter == PARK: + if frogpilot_toggles.unlock_doors: + can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0)) + self.doors_locked = False + + self.reverse_cruise_active = frogpilot_toggles.reverse_cruise_increase + self.reverse_cruise_active &= self.cruise_timer <= 0 self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 8315f24ae..586bd8134 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -1,6 +1,6 @@ import copy -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import mean from openpilot.common.filter_simple import FirstOrderFilter @@ -9,7 +9,7 @@ from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ - TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR + TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, SECOC_CAR SteerControlType = car.CarParams.SteerControlType @@ -25,15 +25,35 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25) PERM_STEER_FAULTS = (3, 17) +# Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team! +@staticmethod +def calculate_speed_limit(cp_cam, frogpilot_toggles): + signals = ["TSGN1", "SPDVAL1", "SPLSGN1", "TSGN2", "SPLSGN2", "TSGN3", "SPLSGN3", "TSGN4", "SPLSGN4"] + traffic_signals = {signal: cp_cam.vl["RSA1"].get(signal, cp_cam.vl["RSA2"].get(signal)) for signal in signals} + + tsgn1 = traffic_signals.get("TSGN1") + spdval1 = traffic_signals.get("SPDVAL1") + + if tsgn1 == 1 and not frogpilot_toggles.force_mph_dashboard: + return spdval1 * CV.KPH_TO_MS + elif tsgn1 == 36 or frogpilot_toggles.force_mph_dashboard: + return spdval1 * CV.MPH_TO_MS + return 0 + + class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100. self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2. self.cluster_min_speed = CV.KPH_TO_MS / 2. + if CP.flags & ToyotaFlags.SECOC.value: + self.shifter_values = can_define.dv["GEAR_PACKET_HYBRID"]["GEAR"] + else: + self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] + # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] # the signal is zeroed to where the steering angle is at start. # Need to apply an offset as soon as the steering angle measurements are both received @@ -48,9 +68,23 @@ class CarState(CarStateBase): self.low_speed_lockout = False self.acc_type = 1 self.lkas_hud = {} + self.gvc = 0.0 + self.secoc_synchronization = None - def update(self, cp, cp_cam): + # FrogPilot variables + self.latActive_previous = False + self.needs_angle_offset_zss = True + + self.angle_offset_zss = 0 + self.zorro_steer_value = 0 + + def update(self, cp, cp_cam, CC, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() + cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp + + if not self.CP.flags & ToyotaFlags.SECOC.value: + self.gvc = cp.vl["VSC1S07"]["GVC"] ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]]) @@ -60,7 +94,22 @@ class CarState(CarStateBase): ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 ret.brakeHoldActive = cp.vl["ESP_CONTROL"]["BRAKE_HOLD_ACTIVE"] == 1 - ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 + if self.CP.flags & ToyotaFlags.SECOC.value: + self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"]) + ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] + ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0 + can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"]) + else: + if self.CP.enableGasInterceptor: + ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2 + ret.gasPressed = ret.gas > 805 + else: + ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0 # TODO: these also have GAS_PEDAL, come back and unify + can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"]) + if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: + ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5) + if self.CP.carFingerprint != CAR.TOYOTA_MIRAI: + ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"] ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], @@ -70,7 +119,7 @@ class CarState(CarStateBase): ) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars + ret.vEgoCluster = ret.vEgo * frogpilot_toggles.cluster_offset ret.standstill = abs(ret.vEgoRaw) < 1e-3 @@ -91,14 +140,10 @@ class CarState(CarStateBase): ret.steeringAngleOffsetDeg = self.angle_offset.x ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x - can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1 ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 - if self.CP.carFingerprint != CAR.TOYOTA_MIRAI: - ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"] - ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale # we could use the override bit from dbc, but it's triggered at too high torque values @@ -129,8 +174,6 @@ class CarState(CarStateBase): conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor - cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp - if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] @@ -154,9 +197,6 @@ class CarState(CarStateBase): ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 - if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: - ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5) - if self.CP.enableBsm: ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1) @@ -175,12 +215,50 @@ class CarState(CarStateBase): else: self.distance_button = cp.vl["SDSU"]["FD_BUTTON"] - return ret + # FrogPilot CarState functions + fp_ret.brakeLights = bool(cp.vl["ESP_CONTROL"]["BRAKE_LIGHTS_ACC"]) + + self.cruise_decreased_previously = self.cruise_decreased + self.cruise_decreased = self.pcm_acc_status == 10 + self.cruise_increased_previously = self.cruise_increased + self.cruise_increased = self.pcm_acc_status == 9 + + fp_ret.dashboardSpeedLimit = calculate_speed_limit(cp_cam, frogpilot_toggles) + + fp_ret.ecoGear = cp.vl["GEAR_PACKET"]['ECON_ON'] == 1 + fp_ret.sportGear = cp.vl["GEAR_PACKET"]['SPORT_ON_2' if self.CP.flags & ToyotaFlags.NO_DSU else 'SPORT_ON'] == 1 + + self.lkas_previously_enabled = self.lkas_enabled + if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V: + self.lkas_enabled = self.lkas_hud.get("LDA_ON_MESSAGE") == 1 + + # ZSS Support - Credit goes to Erich! + if self.CP.flags & ToyotaFlags.ZSS: + if abs(torque_sensor_angle_deg) > 1e-3: + self.accurate_steer_angle_seen = True + + if CC.latActive and not self.latActive_previous: + self.needs_angle_offset_zss = True + self.latActive_previous = CC.latActive + + if self.needs_angle_offset_zss: + zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] + if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3: + self.needs_angle_offset_zss = False + self.angle_offset_zss = zorro_steer - ret.steeringAngleDeg + self.zorro_steer_value = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"] - self.angle_offset_zss + + if not self.needs_angle_offset_zss: + if abs(ret.steeringAngleDeg - self.zorro_steer_value) > 4.0: + ret.steeringAngleDeg = ret.steeringAngleDeg + else: + ret.steeringAngleDeg = self.zorro_steer_value + + return ret, fp_ret @staticmethod def get_can_parser(CP): messages = [ - ("GEAR_PACKET", 1), ("LIGHT_STALK", 1), ("BLINKERS_STATE", 0.15), ("BODY_CONTROL_STATE", 3), @@ -195,8 +273,20 @@ class CarState(CarStateBase): ("STEER_TORQUE_SENSOR", 50), ] - if CP.carFingerprint != CAR.TOYOTA_MIRAI: - messages.append(("ENGINE_RPM", 42)) + if CP.flags & ToyotaFlags.SECOC.value: + messages += [ + ("GEAR_PACKET_HYBRID", 60), + ("SECOC_SYNCHRONIZATION", 10), + ("GAS_PEDAL", 42), + ] + else: + messages.append(("VSC1S07", 20)) + if CP.carFingerprint not in [CAR.TOYOTA_MIRAI]: + messages.append(("ENGINE_RPM", 42)) + + messages += [ + ("GEAR_PACKET", 1), + ] if CP.carFingerprint in UNSUPPORTED_DSU_CAR: messages.append(("DSU_CRUISE", 5)) @@ -204,6 +294,10 @@ class CarState(CarStateBase): else: messages.append(("PCM_CRUISE_2", 33)) + # add gas interceptor reading if we are using it + if CP.enableGasInterceptor: + messages.append(("GAS_SENSOR", 50)) + if CP.enableBsm: messages.append(("BSM", 1)) @@ -226,12 +320,20 @@ class CarState(CarStateBase): ("SDSU", 100), ] + if CP.flags & ToyotaFlags.ZSS: + messages += [("SECONDARY_STEER_ANGLE", 0)] + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod def get_cam_can_parser(CP): messages = [] + messages += [ + ("RSA1", 0), + ("RSA2", 0), + ] + if CP.carFingerprint != CAR.TOYOTA_PRIUS_V: messages += [ ("LKAS_HUD", 1), @@ -239,9 +341,14 @@ class CarState(CarStateBase): if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): messages += [ - ("PRE_COLLISION", 33), ("ACC_CONTROL", 33), ("PCS_HUD", 1), ] + # TODO: Figure out new layout of the PRE_COLLISION message + if not CP.flags & ToyotaFlags.SECOC.value: + messages += [ + ("PRE_COLLISION", 33), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 0866a4d43..ec9cdbb07 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -89,6 +89,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', @@ -109,6 +110,7 @@ FW_VERSIONS = { b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966333N1100\x00\x00\x00\x00', b'\x018966333N4300\x00\x00\x00\x00', + b'\x018966333P3000\x00\x00\x00\x00', b'\x018966333P3100\x00\x00\x00\x00', b'\x018966333P3200\x00\x00\x00\x00', b'\x018966333P4200\x00\x00\x00\x00', @@ -126,6 +128,7 @@ FW_VERSIONS = { b'\x018966333X0000\x00\x00\x00\x00', b'\x018966333X4000\x00\x00\x00\x00', b'\x01896633T16000\x00\x00\x00\x00', + b'\x01896633TA2000\x00\x00\x00\x00', b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', @@ -158,14 +161,17 @@ FW_VERSIONS = { b'8821F0605200 ', b'8821F0606200 ', b'8821F0607200 ', + b'8821F0607300 ', b'8821F0608000 ', b'8821F0608200 ', + b'8821F0608300 ', b'8821F0609000 ', b'8821F0609100 ', ], (Ecu.abs, 0x7b0, None): [ b'F152606210\x00\x00\x00\x00\x00\x00', b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606260\x00\x00\x00\x00\x00\x00', b'F152606270\x00\x00\x00\x00\x00\x00', b'F152606290\x00\x00\x00\x00\x00\x00', b'F152606410\x00\x00\x00\x00\x00\x00', @@ -188,6 +194,7 @@ FW_VERSIONS = { b'8965B33581\x00\x00\x00\x00\x00\x00', b'8965B33611\x00\x00\x00\x00\x00\x00', b'8965B33621\x00\x00\x00\x00\x00\x00', + b'8965B33630\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F0601200 ', @@ -203,8 +210,10 @@ FW_VERSIONS = { b'8821F0605200 ', b'8821F0606200 ', b'8821F0607200 ', + b'8821F0607300 ', b'8821F0608000 ', b'8821F0608200 ', + b'8821F0608300 ', b'8821F0609000 ', b'8821F0609100 ', ], @@ -234,6 +243,7 @@ FW_VERSIONS = { b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', b'\x01F152606431\x00\x00\x00\x00\x00\x00', + b'\x01F152633E11\x00\x00\x00\x00\x00\x00', b'F152633310\x00\x00\x00\x00\x00\x00', b'F152633D00\x00\x00\x00\x00\x00\x00', b'F152633D60\x00\x00\x00\x00\x00\x00', @@ -251,6 +261,7 @@ FW_VERSIONS = { b'\x018966306T4000\x00\x00\x00\x00', b'\x018966306T4100\x00\x00\x00\x00', b'\x018966306V1000\x00\x00\x00\x00', + b'\x018966333Z1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -266,6 +277,7 @@ FW_VERSIONS = { b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, @@ -314,6 +326,7 @@ FW_VERSIONS = { b'F1526F4073\x00\x00\x00\x00\x00\x00', b'F1526F4121\x00\x00\x00\x00\x00\x00', b'F1526F4122\x00\x00\x00\x00\x00\x00', + b'F1526F4190\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B10011\x00\x00\x00\x00\x00\x00', @@ -330,6 +343,7 @@ FW_VERSIONS = { b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', + b'\x033F435000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F0W01000 ', @@ -384,6 +398,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00', b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', + b'\x028646FF413000\x00\x00\x00\x008646GF411000\x00\x00\x00\x00', b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', ], }, @@ -424,6 +439,7 @@ FW_VERSIONS = { CAR.TOYOTA_COROLLA_TSS2: { (Ecu.engine, 0x700, None): [ b'\x01896630A22000\x00\x00\x00\x00', + b'\x01896630A42000\x00\x00\x00\x00', b'\x01896630ZG2000\x00\x00\x00\x00', b'\x01896630ZG5000\x00\x00\x00\x00', b'\x01896630ZG5100\x00\x00\x00\x00', @@ -436,6 +452,7 @@ FW_VERSIONS = { b'\x01896630ZU8000\x00\x00\x00\x00', b'\x01896630ZU9000\x00\x00\x00\x00', b'\x01896630ZX4000\x00\x00\x00\x00', + b'\x01896630ZX7100\x00\x00\x00\x00', b'\x018966312L8000\x00\x00\x00\x00', b'\x018966312M0000\x00\x00\x00\x00', b'\x018966312M9000\x00\x00\x00\x00', @@ -511,11 +528,13 @@ FW_VERSIONS = { b'\x018965B1254000\x00\x00\x00\x00', b'\x018965B1255000\x00\x00\x00\x00', b'\x018965B1256000\x00\x00\x00\x00', + b'\x018965B1270000\x00\x00\x00\x00', b'8965B12361\x00\x00\x00\x00\x00\x00', b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', b'8965B16101\x00\x00\x00\x00\x00\x00', b'8965B16170\x00\x00\x00\x00\x00\x00', + b'8965B16260\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', b'8965B76091\x00\x00\x00\x00\x00\x00', @@ -530,6 +549,7 @@ FW_VERSIONS = { b'\x01F15260A010\x00\x00\x00\x00\x00\x00', b'\x01F15260A050\x00\x00\x00\x00\x00\x00', b'\x01F15260A070\x00\x00\x00\x00\x00\x00', + b'\x01F15260A33000\x00\x00\x00\x00', b'\x01F152612641\x00\x00\x00\x00\x00\x00', b'\x01F152612651\x00\x00\x00\x00\x00\x00', b'\x01F152612862\x00\x00\x00\x00\x00\x00', @@ -589,6 +609,7 @@ FW_VERSIONS = { b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F1601500\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', @@ -642,6 +663,7 @@ FW_VERSIONS = { (Ecu.dsu, 0x791, None): [ b'881510E01100\x00\x00\x00\x00', b'881510E01200\x00\x00\x00\x00', + b'881510E02100\x00\x00\x00\x00', b'881510E02200\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -706,11 +728,13 @@ FW_VERSIONS = { b'\x01896630EE7000\x00\x00\x00\x00', b'\x01896630EF8000\x00\x00\x00\x00', b'\x01896630EG3000\x00\x00\x00\x00', + b'\x01896630EG3100\x00\x00\x00\x00', b'\x01896630EG5000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630EB3200\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', @@ -734,6 +758,7 @@ FW_VERSIONS = { b'\x018966353Q2300\x00\x00\x00\x00', b'\x018966353Q4000\x00\x00\x00\x00', b'\x018966353R1100\x00\x00\x00\x00', + b'\x018966353R7000\x00\x00\x00\x00', b'\x018966353R7100\x00\x00\x00\x00', b'\x018966353R8000\x00\x00\x00\x00', b'\x018966353R8100\x00\x00\x00\x00', @@ -796,6 +821,7 @@ FW_VERSIONS = { b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], @@ -848,6 +874,7 @@ FW_VERSIONS = { b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00', b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00', b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', + b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -993,6 +1020,33 @@ FW_VERSIONS = { b'8646F4204000\x00\x00\x00\x00', ], }, + CAR.TOYOTA_RAV4_PRIME: { + (Ecu.engine, 0x700, None): [ + b'\x018966342S7000\x00\x00\x00\x00', + b'\x018966342Z1000\x00\x00\x00\x00', + b'\x018966342Z1100\x00\x00\x00\x00', + b'\x01896634AJ7000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15264228300\x00\x00\x00\x00', + b'\x01F15264228500\x00\x00\x00\x00', + b'\x01F15264284100\x00\x00\x00\x00', + b'\x01F152642F3000\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x018965B4209000\x00\x00\x00\x00', + b'\x018965B4233100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F4205200\x00\x00\x00\x008646G4202000\x00\x00\x00\x00', + b'\x028646F4205300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00', + b'\x028646F4210100\x00\x00\x00\x008646G3305000\x00\x00\x00\x00', + ], + }, CAR.TOYOTA_RAV4_TSS2: { (Ecu.engine, 0x700, None): [ b'\x01896630R58000\x00\x00\x00\x00', @@ -1142,6 +1196,7 @@ FW_VERSIONS = { }, CAR.TOYOTA_RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R440\x00\x00\x00\x00\x00\x00', b'\x01F15260R450\x00\x00\x00\x00\x00\x00', b'\x01F15260R50000\x00\x00\x00\x00', b'\x01F15260R51000\x00\x00\x00\x00', @@ -1163,6 +1218,7 @@ FW_VERSIONS = { b'\x01896634AE1001\x00\x00\x00\x00', b'\x01896634AF0000\x00\x00\x00\x00', b'\x01896634AJ2000\x00\x00\x00\x00', + b'\x01896634AJ3000\x00\x00\x00\x00', b'\x01896634AL5000\x00\x00\x00\x00', b'\x01896634AL6000\x00\x00\x00\x00', b'\x01896634AL8000\x00\x00\x00\x00', @@ -1173,6 +1229,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00', + b'\x028646F0R05300\x00\x00\x00\x008646G0R02300\x00\x00\x00\x00', b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00', ], }, @@ -1212,21 +1269,46 @@ FW_VERSIONS = { b'8646F0801100\x00\x00\x00\x00', ], }, + CAR.TOYOTA_SIENNA_4TH_GEN: { + (Ecu.engine, 0x700, None): [ + b'\x01896630841000\x00\x00\x00\x00', + b'\x01896630857101\x00\x00\x00\x00', + b'\x01896630864000\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260815100\x00\x00\x00\x00', + b'\x01F15260815300\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x018965B4509100\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301500\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0802200\x00\x00\x00\x008646G4202100\x00\x00\x00\x00', + b'\x028646F0802300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00', + b'\x028646F0802400\x00\x00\x00\x008646G4202100\x00\x00\x00\x00', + ], + }, CAR.LEXUS_CTH: { (Ecu.dsu, 0x791, None): [ b'881517601100\x00\x00\x00\x00', + b'881517602000\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152676144\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0237641000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F4702300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'8646F7601100\x00\x00\x00\x00', + b'8646F7601200\x00\x00\x00\x00', ], }, CAR.LEXUS_ES_TSS2: { @@ -1238,6 +1320,7 @@ FW_VERSIONS = { b'\x01896633T07000\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00', + b'\x01896633T63000\x00\x00\x00\x00', b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00', b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', @@ -1261,6 +1344,7 @@ FW_VERSIONS = { b'8965B33252\x00\x00\x00\x00\x00\x00', b'8965B33590\x00\x00\x00\x00\x00\x00', b'8965B33690\x00\x00\x00\x00\x00\x00', + b'8965B33702\x00\x00\x00\x00\x00\x00', b'8965B33721\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ @@ -1274,6 +1358,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F0610100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', @@ -1282,6 +1367,7 @@ FW_VERSIONS = { b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3309400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.LEXUS_ES: { @@ -1470,6 +1556,7 @@ FW_VERSIONS = { b'\x01896630E36100\x00\x00\x00\x00', b'\x01896630E36200\x00\x00\x00\x00', b'\x01896630E36300\x00\x00\x00\x00', + b'\x01896630E36600\x00\x00\x00\x00', b'\x01896630E37100\x00\x00\x00\x00', b'\x01896630E37200\x00\x00\x00\x00', b'\x01896630E37300\x00\x00\x00\x00', @@ -1481,11 +1568,13 @@ FW_VERSIONS = { b'\x01896630EA3300\x00\x00\x00\x00', b'\x01896630EA3400\x00\x00\x00\x00', b'\x01896630EA4100\x00\x00\x00\x00', + b'\x01896630EA4200\x00\x00\x00\x00', b'\x01896630EA4300\x00\x00\x00\x00', b'\x01896630EA4400\x00\x00\x00\x00', b'\x01896630EA6300\x00\x00\x00\x00', b'\x018966348R1300\x00\x00\x00\x00', b'\x018966348R8500\x00\x00\x00\x00', + b'\x018966348R9300\x00\x00\x00\x00', b'\x018966348W1300\x00\x00\x00\x00', b'\x018966348W2300\x00\x00\x00\x00', ], @@ -1574,6 +1663,7 @@ FW_VERSIONS = { b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x0234D15000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ @@ -1628,6 +1718,7 @@ FW_VERSIONS = { b'8965B47070\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F3301300\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 98f63597e..077a1720e 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,24 +1,26 @@ -from cereal import car +from cereal import car, custom from panda import Panda from panda.python import uds from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ - MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR + MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, STOP_AND_GO_CAR from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.disable_ecu import disable_ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.frogpilot.frogpilot_variables import params + ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type EventName = car.CarEvent.EventName SteerControlType = car.CarParams.SteerControlType - class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): - return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX + return CarControllerParams(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "toyota" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] @@ -27,6 +29,10 @@ class CarInterface(CarInterfaceBase): if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + if ret.flags & ToyotaFlags.SECOC.value: + ret.secOcRequired = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_SECOC + if candidate in ANGLE_CONTROL_CAR: ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA @@ -42,8 +48,6 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop - stop_and_go = candidate in TSS2_CAR - # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): @@ -57,24 +61,23 @@ class CarInterface(CarInterfaceBase): ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ and not (ret.flags & ToyotaFlags.SMART_DSU) + if Ecu.hybrid in found_ecus: + ret.flags |= ToyotaFlags.HYBRID.value + if candidate == CAR.TOYOTA_PRIUS: - stop_and_go = True # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': ret.steerActuatorDelay = 0.25 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) + if 0x23 in fingerprint[0]: # Detect if ZSS is present + ret.flags |= ToyotaFlags.ZSS.value + elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): - stop_and_go = True ret.wheelSpeedFactor = 1.035 - elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2): - # starting from 2019, all Avalon variants have stop and go - # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf - stop_and_go = candidate != CAR.TOYOTA_AVALON - - elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023): + elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN): ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0] @@ -91,15 +94,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00004 break - elif candidate in (CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX): - # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars? - stop_and_go = True - - # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. - # For now, don't list stop and go functionality in the docs - if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU: - stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs) - ret.centerToFront = ret.wheelbase * 0.44 # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. @@ -131,26 +125,35 @@ class CarInterface(CarInterfaceBase): # - TSS2 radar ACC cars w/ smartDSU installed # - TSS2 radar ACC cars w/o smartDSU installed (disables radar) # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) - ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) + + if ret.flags & ToyotaFlags.SECOC.value: + ret.openpilotLongitudinalControl = False + else: + ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) + ret.openpilotLongitudinalControl &= not disable_openpilot_long + ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR + ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl if not ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL + if ret.enableGasInterceptor: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR + # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. - ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED + ret.minEnableSpeed = -1. if (candidate in STOP_AND_GO_CAR or ret.enableGasInterceptor) else MIN_ACC_SPEED - tune = ret.longitudinalTuning - if candidate in TSS2_CAR: - tune.kpV = [0.0] - tune.kiV = [0.5] - ret.vEgoStopping = 0.25 - ret.vEgoStarting = 0.25 - ret.stoppingDecelRate = 0.3 # reach stopping target smoothly - else: - tune.kiBP = [0., 5., 35.] - tune.kiV = [3.6, 2.4, 1.5] + ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value + + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 + ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + + # Hybrids have much quicker longitudinal actuator response + if ret.flags & ToyotaFlags.HYBRID.value: + ret.longitudinalActuatorDelay = 0.05 return ret @@ -162,11 +165,16 @@ class CarInterface(CarInterfaceBase): disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control) # returns a car.CarState - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, c, frogpilot_toggles) if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): - ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + ret.buttonEvents = [ + *create_button_events(self.CS.cruise_decreased, self.CS.cruise_decreased_previously, {1: ButtonType.decelCruise}), + *create_button_events(self.CS.cruise_increased, self.CS.cruise_increased_previously, {1: ButtonType.accelCruise}), + *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}), + *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), + ] # events events = self.create_common_events(ret) @@ -177,7 +185,7 @@ class CarInterface(CarInterfaceBase): events.add(EventName.vehicleSensorsInvalid) if self.CP.openpilotLongitudinalControl: - if ret.cruiseState.standstill and not ret.brakePressed: + if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor: events.add(EventName.resumeRequired) if self.CS.low_speed_lockout: events.add(EventName.lowSpeedLockout) @@ -192,4 +200,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret + return ret, fp_ret diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 1cc99b41b..5d633fc95 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -33,22 +33,52 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, return packer.make_can_msg("STEERING_LTA", 0, values) -def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance): +def create_lta_steer_command_2(packer, frame): + values = { + "COUNTER": frame + 128, + } + return packer.make_can_msg("STEERING_LTA_2", 0, values) + + +def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance, reverse_cruise_active): # TODO: find the exact canceling bit that does not create a chime values = { "ACCEL_CMD": accel, "ACC_TYPE": acc_type, "DISTANCE": distance, "MINI_CAR": lead, - "PERMIT_BRAKING": 1, + "PERMIT_BRAKING": permit_braking, "RELEASE_STANDSTILL": not standstill_req, "CANCEL_REQ": pcm_cancel, - "ALLOW_LONG_PRESS": 1, + "ALLOW_LONG_PRESS": 2 if reverse_cruise_active else 1, "ACC_CUT_IN": fcw_alert, # only shown when ACC enabled } return packer.make_can_msg("ACC_CONTROL", 0, values) +def create_pcs_commands(packer, accel, active, mass): + values1 = { + "COUNTER": 0, + "FORCE": round(min(accel, 0) * mass * 2), + "STATE": 3 if active else 0, + "BRAKE_STATUS": 0, + "PRECOLLISION_ACTIVE": 1 if active else 0, + } + msg1 = packer.make_can_msg("PRE_COLLISION", 0, values1) + + values2 = { + "DSS1GDRV": min(accel, 0), # accel + "PCSALM": 1 if active else 0, # goes high same time as PRECOLLISION_ACTIVE + "IBTRGR": 1 if active else 0, # unknown + "PBATRGR": 1 if active else 0, # noisy actuation bit? + "PREFILL": 1 if active else 0, # goes on and off before DSS1GDRV + "AVSTRGR": 1 if active else 0, + } + msg2 = packer.make_can_msg("PRE_COLLISION_2", 0, values2) + + return [msg1, msg2] + + def create_acc_cancel_command(packer): values = { "GAS_RELEASED": 0, @@ -73,13 +103,13 @@ def create_fcw_command(packer, fcw): return packer.make_can_msg("PCS_HUD", 0, values) -def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud): +def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud, lat_active): values = { "TWO_BEEPS": chime, "LDA_ALERT": steer, - "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, - "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, - "BARRIERS": 1 if enabled else 0, + "RIGHT_LINE": 0 if not lat_active else 3 if right_lane_depart else 1 if right_line else 2, + "LEFT_LINE": 0 if not lat_active else 3 if left_lane_depart else 1 if left_line else 2, + "BARRIERS": 1 if lat_active else 0, # static signals "SET_ME_X02": 2, diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2e781ad0a..6fd0885c6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -16,9 +16,6 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS class CarControllerParams: - ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s2 for tuning reasons - ACCEL_MIN = -3.5 # m/s2 - STEER_STEP = 1 STEER_MAX = 1500 STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor @@ -33,7 +30,13 @@ class CarControllerParams: ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26]) def __init__(self, CP): - if CP.lateralTuning.which == 'torque': + if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT: + self.ACCEL_MAX = 2.0 + else: + self.ACCEL_MAX = 1.5 # m/s2, lower than allowed 2.0 m/s^2 for tuning reasons + self.ACCEL_MIN = -3.5 # m/s2 + + if CP.lateralTuning.which() == 'torque': self.STEER_DELTA_UP = 15 # 1.0s time to peak torque self.STEER_DELTA_DOWN = 25 # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50) else: @@ -44,9 +47,7 @@ class CarControllerParams: class ToyotaFlags(IntFlag): # Detected flags HYBRID = 1 - SMART_DSU = 2 DISABLE_RADAR = 4 - RADAR_CAN_FILTER = 1024 # Static flags TSS2 = 8 @@ -56,9 +57,16 @@ class ToyotaFlags(IntFlag): # these cars use the Lane Tracing Assist (LTA) message for lateral control ANGLE_CONTROL = 128 NO_STOP_TIMER = 256 - # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU + # these cars are speculated to allow stop and go when the DSU is unplugged SNG_WITHOUT_DSU = 512 + # these cars can utilize 2.0 m/s^2 + RAISED_ACCEL_LIMIT = 1024 + SECOC = 2048 + # FrogPilot Toyota flags + RADAR_CAN_FILTER = 4096 + SMART_DSU = 8192 + ZSS = 16384 class Footnote(Enum): CAMRY = CarFootnote( @@ -246,6 +254,14 @@ class CAR(Platforms): TOYOTA_RAV4_TSS2.specs, flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, ) + TOYOTA_RAV4_PRIME = PlatformConfig( + # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md + # [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)], + [], + CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533), + dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'), + flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC, + ) TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5 [ToyotaCarDocs("Toyota Mirai 2021")], CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), @@ -256,6 +272,14 @@ class CAR(Platforms): dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, ) + TOYOTA_SIENNA_4TH_GEN = PlatformConfig( + # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md + # [ToyotaCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)], + [], + CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444), + dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'), + flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC, + ) # Lexus LEXUS_CTH = PlatformConfig( @@ -274,7 +298,7 @@ class CAR(Platforms): LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig( [ ToyotaCarDocs("Lexus ES 2019-24"), - ToyotaCarDocs("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + ToyotaCarDocs("Lexus ES Hybrid 2019-25", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], LEXUS_ES.specs, ) @@ -539,6 +563,7 @@ FW_QUERY_CONFIG = FwQueryConfig( # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform (Ecu.hybrid, 0x7e2, None), # Hybrid Control Assembly & Computer + (Ecu.hybrid, 0x7d2, None), # Hybrid Control Assembly & Computer (Ecu.srs, 0x780, None), # SRS Airbag # Transmission is combined with engine on some platforms, such as TSS-P RAV4 (Ecu.transmission, 0x701, None), @@ -569,7 +594,12 @@ RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC) ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL) +SECOC_CAR = CAR.with_flags(ToyotaFlags.SECOC) + # no resume button press required NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER) +STOP_AND_GO_CAR = TSS2_CAR | {CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_V, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_HIGHLANDER, + CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX, CAR.TOYOTA_MIRAI, CAR.TOYOTA_AVALON_2019} + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index a4e0c8946..802a0ce4e 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -8,6 +8,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel + VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -27,7 +29,7 @@ class CarController(CarControllerBase): self.hca_frame_timer_running = 0 self.hca_frame_same_torque = 0 - def update(self, CC, CS, now_nanos): + def update(self, CC, CS, now_nanos, frogpilot_toggles): actuators = CC.actuators hud_control = CC.hudControl can_sends = [] @@ -80,7 +82,10 @@ class CarController(CarControllerBase): if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) - accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 + if frogpilot_toggles.sport_plus: + accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo))) if CC.longActive else 0 + else: + accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.CCP.ACCEL_MAX)) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index ec6403496..4a6122093 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -1,5 +1,5 @@ import numpy as np -from cereal import car +from cereal import car, custom from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser @@ -32,11 +32,12 @@ class CarState(CarStateBase): return button_events - def update(self, pt_cp, cam_cp, ext_cp, trans_type): + def update(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_toggles): if self.CP.flags & VolkswagenFlags.PQ: - return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type) + return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type, frogpilot_toggles) ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() # Update vehicle speed and acceleration from ABS wheel speeds. ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"], @@ -152,11 +153,18 @@ class CarState(CarStateBase): # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) - self.frame += 1 - return ret + # FrogPilot CarState functions + fp_ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck']) - def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type): + self.prev_distance_button = self.distance_button + self.distance_button = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"]) + + self.frame += 1 + return ret, fp_ret + + def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type, frogpilot_toggles): ret = car.CarState.new_message() + fp_ret = custom.FrogPilotCarState.new_message() # Update vehicle speed and acceleration from ABS wheel speeds. ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"], @@ -251,8 +259,14 @@ class CarState(CarStateBase): # Additional safety checks performed in CarInterface. ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"]) + # FrogPilot CarState functions + fp_ret.brakeLights = bool(pt_cp.vl["Motor_2"]['Bremstestschalter']) + + self.prev_distance_button = self.distance_button + self.distance_button = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"]) + self.frame += 1 - return ret + return ret, fp_ret def update_hca_state(self, hca_status): # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 77e56875b..ce35ac840 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase): self.cp_ext = self.cp_cam @staticmethod - def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True @@ -101,8 +101,8 @@ class CarInterface(CarInterfaceBase): return ret # returns a car.CarState - def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) + def _update(self, c, frogpilot_toggles): + ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType, frogpilot_toggles) events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], pcm_enable=not self.CS.CP.openpilotLongitudinalControl, @@ -127,5 +127,4 @@ class CarInterface(CarInterfaceBase): ret.events = events.to_msg() - return ret - + return ret, fp_ret diff --git a/selfdrive/classic_modeld/SConscript b/selfdrive/classic_modeld/SConscript new file mode 100644 index 000000000..2260b5b57 --- /dev/null +++ b/selfdrive/classic_modeld/SConscript @@ -0,0 +1,74 @@ +import glob + +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') +lenv = env.Clone() +lenvCython = envCython.Clone() + +libs = [cereal, messaging, visionipc, gpucommon, common, 'capnp', 'zmq', 'kj', 'pthread'] +frameworks = [] + +common_src = [ + "models/commonmodel.cc", + "transforms/loadyuv.cc", + "transforms/transform.cc", +] + +thneed_src_common = [ + "thneed/thneed_common.cc", + "thneed/serialize.cc", +] + +thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"] +thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"] +thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc + +# SNPE except on Mac and ARM Linux +snpe_lib = [] +if arch != "Darwin" and arch != "aarch64": + common_src += ['runners/snpemodel.cc'] + snpe_lib += ['SNPE'] + +# OpenCL is a framework on Mac +if arch == "Darwin": + frameworks += ['OpenCL'] +else: + libs += ['OpenCL'] + +# Set path definitions +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): + for xenv in (lenv, lenvCython): + xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') + +# Compile cython +snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64" +snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang" +snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc] + +cython_libs = envCython["LIBS"] + libs +snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc']) +commonmodel_lib = lenv.Library('commonmodel', common_src) + +lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=cython_libs, FRAMEWORKS=frameworks) +lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) + +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)] + +# Get model metadata +fn = File("models/supercombo").abspath +cmd = f'python3 {Dir("#selfdrive/classic_modeld").abspath}/get_model_metadata.py {fn}.onnx' +lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd) + +# Build thneed model +if arch == "larch64" or GetOption('pc_thneed'): + tinygrad_opts = [] + if not GetOption('pc_thneed'): + # use FLOAT16 on device for speed + don't cache the CL kernels for space + tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"] + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile2.py {fn}.onnx {fn}.thneed" + + lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd) + + thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'zmq', 'OpenCL', 'dl']) + thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc']) + lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'zmq', 'OpenCL']) diff --git a/selfdrive/classic_modeld/__init__.py b/selfdrive/classic_modeld/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/classic_modeld/classic_modeld b/selfdrive/classic_modeld/classic_modeld new file mode 100755 index 000000000..3153c81ef --- /dev/null +++ b/selfdrive/classic_modeld/classic_modeld @@ -0,0 +1,10 @@ +#!/usr/bin/env bash + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd "$DIR/../../" + +if [ -f "$DIR/libthneed.so" ]; then + export LD_PRELOAD="$DIR/libthneed.so" +fi + +exec "$DIR/classic_modeld.py" "$@" diff --git a/selfdrive/classic_modeld/classic_modeld.py b/selfdrive/classic_modeld/classic_modeld.py new file mode 100755 index 000000000..b41953523 --- /dev/null +++ b/selfdrive/classic_modeld/classic_modeld.py @@ -0,0 +1,355 @@ +#!/usr/bin/env python3 +import os +import time +import pickle +import numpy as np +import cereal.messaging as messaging +from cereal import car, log +from pathlib import Path +from setproctitle import setproctitle +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import config_realtime_process +from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.common.transformations.model import get_warp_matrix +from openpilot.system import sentry +from openpilot.selfdrive.car.car_helpers import get_demo_car_params +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.selfdrive.classic_modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.classic_modeld.parse_model_outputs import Parser +from openpilot.selfdrive.classic_modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState +from openpilot.selfdrive.classic_modeld.constants import ModelConstants +from openpilot.selfdrive.classic_modeld.models.commonmodel_pyx import ModelFrame, CLContext + +from openpilot.selfdrive.frogpilot.frogpilot_variables import METADATAS_PATH, MODELS_PATH, get_frogpilot_toggles + +PROCESS_NAME = "selfdrive.classic_modeld.classic_modeld" +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + +MODEL_PATHS = { + ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', + ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} + +class FrameMeta: + frame_id: int = 0 + timestamp_sof: int = 0 + timestamp_eof: int = 0 + + def __init__(self, vipc=None): + if vipc is not None: + self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof + +class ModelState: + frame: ModelFrame + wide_frame: ModelFrame + inputs: dict[str, np.ndarray] + output: np.ndarray + prev_desire: np.ndarray # for tracking the rising edge of the pulse + model: ModelRunner + + def __init__(self, context: CLContext, model: str, model_version: str): + # FrogPilot variables + MODEL_PATHS[ModelRunner.THNEED] = MODELS_PATH / f'{model}.thneed' + + with open(METADATAS_PATH / f'supercombo_metadata_{model_version}.pkl', 'rb') as f: + model_metadata = pickle.load(f) + + input_shapes = model_metadata.get('input_shapes') + self.navigation = 'nav_features' in input_shapes and 'nav_instructions' in input_shapes + self.radarless = 'radar_tracks' in input_shapes + + self.frame = ModelFrame(context) + self.wide_frame = ModelFrame(context) + self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + self.inputs = { + 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), + 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), + 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + **({'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), + 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)} if self.navigation else {}), + 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), + **({'radar_tracks': np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32)} if self.radarless else {}), + } + + self.output_slices = model_metadata['output_slices'] + net_output_size = model_metadata['output_shapes']['outputs'][1] + self.output = np.zeros(net_output_size, dtype=np.float32) + self.parser = Parser() + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) + self.model.addInput("input_imgs", None) + self.model.addInput("big_input_imgs", None) + for k,v in self.inputs.items(): + self.model.addInput(k, v) + + def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]: + parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} + if SEND_RAW_PRED: + parsed_model_outputs['raw_pred'] = model_outputs.copy() + return parsed_model_outputs + + def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, + inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: + # Model decides when action is completed, so desire input is just a pulse triggered on rising edge + inputs['desire'][0] = 0 + self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] + self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) + self.prev_desire[:] = inputs['desire'] + + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] + + if self.navigation: + self.inputs['nav_features'][:] = inputs['nav_features'] + self.inputs['nav_instructions'][:] = inputs['nav_instructions'] + + if self.radarless: + self.inputs['radar_tracks'][:] = inputs['radar_tracks'] + + # if getCLBuffer is not None, frame will be None + self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) + if wbuf is not None: + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + + if prepare_only: + return None + + self.model.execute() + outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) + + self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] + self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] + self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] + return outputs + + +def main(demo=False): + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + + model_name = frogpilot_toggles.model + model_version = frogpilot_toggles.model_version + + cloudlog.warning("classic_modeld init") + + sentry.set_tag("daemon", PROCESS_NAME) + cloudlog.bind(daemon=PROCESS_NAME) + setproctitle(PROCESS_NAME) + config_realtime_process(7, 54) + + cloudlog.warning("setting up CL context") + cl_context = CLContext() + cloudlog.warning("CL context ready; loading model") + model = ModelState(cl_context, model_name, model_version) + cloudlog.warning("models loaded, classic_modeld starting") + + # visionipc clients + while True: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if available_streams: + use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams + main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams + break + time.sleep(.1) + + vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") + + while not vipc_client_main.connect(False): + time.sleep(0.1) + while use_extra_client and not vipc_client_extra.connect(False): + time.sleep(0.1) + + cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") + if use_extra_client: + cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") + + # messaging + pm = PubMaster(["modelV2", "cameraOdometry"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "liveTracks", "frogpilotPlan"]) + + publish_state = PublishState() + params = Params() + + # setup filter to track dropped frames + frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) + frame_id = 0 + last_vipc_frame_id = 0 + run_count = 0 + + model_transform_main = np.zeros((3, 3), dtype=np.float32) + model_transform_extra = np.zeros((3, 3), dtype=np.float32) + live_calib_seen = False + nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) + nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) + buf_main, buf_extra = None, None + meta_main = FrameMeta() + meta_extra = FrameMeta() + + + if demo: + CP = get_demo_car_params() + else: + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("classic_modeld got CarParams: %s", CP.carName) + + # TODO this needs more thought, use .2s extra for now to estimate other delays + steer_delay = CP.steerActuatorDelay + .2 + + DH = DesireHelper() + + while True: + # Keep receiving frames until we are at least 1 frame ahead of previous extra frame + while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + buf_main = vipc_client_main.recv() + meta_main = FrameMeta(vipc_client_main) + if buf_main is None: + break + + if buf_main is None: + cloudlog.debug("vipc_client_main no frame") + continue + + if use_extra_client: + # Keep receiving extra frames until frame id matches main camera + while True: + buf_extra = vipc_client_extra.recv() + meta_extra = FrameMeta(vipc_client_extra) + if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: + break + + if buf_extra is None: + cloudlog.debug("vipc_client_extra no frame") + continue + + if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: + cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ + extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") + + else: + # Use single camera + buf_extra = buf_main + meta_extra = meta_main + + sm.update(0) + desire = DH.desire + is_rhd = sm["driverMonitoringState"].isRHD + frame_id = sm["roadCameraState"].frameId + lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) + if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: + device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) + dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] + model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) + model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) + live_calib_seen = True + + traffic_convention = np.zeros(2) + traffic_convention[int(is_rhd)] = 1 + + vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + if desire >= 0 and desire < ModelConstants.DESIRE_LEN: + vec_desire[desire] = 1 + + # Enable/disable nav features + timestamp_llk = sm["navModel"].locationMonoTime + nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) + nav_enabled = nav_valid and model.navigation + + if not nav_enabled: + nav_features[:] = 0 + nav_instructions[:] = 0 + + if nav_enabled and sm.updated["navModel"]: + nav_features = np.array(sm["navModel"].features) + + if nav_enabled and sm.updated["navInstruction"]: + nav_instructions[:] = 0 + for maneuver in sm["navInstruction"].allManeuvers: + distance_idx = 25 + int(maneuver.distance / 20) + direction_idx = 0 + if maneuver.modifier in ("left", "slight left", "sharp left"): + direction_idx = 1 + if maneuver.modifier in ("right", "slight right", "sharp right"): + direction_idx = 2 + if 0 <= distance_idx < 50: + nav_instructions[distance_idx*3 + direction_idx] = 1 + + radar_tracks = np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32) + if sm.updated["liveTracks"]: + for i, track in enumerate(sm["liveTracks"]): + if i >= ModelConstants.RADAR_TRACKS_LEN: + break + vec_index = i * ModelConstants.RADAR_TRACKS_WIDTH + radar_tracks[vec_index:vec_index+ModelConstants.RADAR_TRACKS_WIDTH] = [track.dRel, track.yRel, track.vRel] + + # tracked dropped frames + vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) + frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) + if run_count < 10: # let frame drops warm up + frame_dropped_filter.x = 0. + frames_dropped = 0. + run_count = run_count + 1 + + frame_drop_ratio = frames_dropped / (1 + frames_dropped) + prepare_only = vipc_dropped_frames > 0 + if prepare_only: + cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") + + inputs:dict[str, np.ndarray] = { + 'desire': vec_desire, + 'traffic_convention': traffic_convention, + 'lateral_control_params': lateral_control_params, + **({'nav_features': nav_features, 'nav_instructions': nav_instructions} if model.navigation else {}), + **({'radar_tracks': radar_tracks} if model.radarless else {}), + } + + mt1 = time.perf_counter() + model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) + mt2 = time.perf_counter() + model_execution_time = mt2 - mt1 + + if model_output is not None: + modelv2_send = messaging.new_message('modelV2') + posenet_send = messaging.new_message('cameraOdometry') + fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, + meta_main.timestamp_eof, timestamp_llk, model_execution_time, live_calib_seen, nav_enabled) + + desire_state = modelv2_send.modelV2.meta.desireState + l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] + r_lane_change_prob = desire_state[log.Desire.laneChangeRight] + lane_change_prob = l_lane_change_prob + r_lane_change_prob + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'], frogpilot_toggles) + modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state + modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction + modelv2_send.modelV2.meta.turnDirection = DH.turn_direction + + fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) + pm.send('modelV2', modelv2_send) + pm.send('cameraOdometry', posenet_send) + + last_vipc_frame_id = meta_main.frame_id + + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() + +if __name__ == "__main__": + try: + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') + args = parser.parse_args() + main(demo=args.demo) + except KeyboardInterrupt: + cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") + except Exception: + sentry.capture_exception() + raise diff --git a/selfdrive/classic_modeld/constants.py b/selfdrive/classic_modeld/constants.py new file mode 100644 index 000000000..c710d92b7 --- /dev/null +++ b/selfdrive/classic_modeld/constants.py @@ -0,0 +1,85 @@ +import numpy as np + +def index_function(idx, max_val=192, max_idx=32): + return (max_val) * ((idx/max_idx)**2) + +class ModelConstants: + # time and distance indices + IDX_N = 33 + T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)] + X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)] + LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.] + LEAD_T_OFFSETS = [0., 2., 4.] + META_T_IDXS = [2., 4., 6., 8., 10.] + + # model inputs constants + MODEL_FREQ = 20 + FEATURE_LEN = 512 + HISTORY_BUFFER_LEN = 99 + DESIRE_LEN = 8 + TRAFFIC_CONVENTION_LEN = 2 + NAV_FEATURE_LEN = 256 + NAV_INSTRUCTION_LEN = 150 + LAT_PLANNER_STATE_LEN = 4 + LATERAL_CONTROL_PARAMS_LEN = 2 + PREV_DESIRED_CURV_LEN = 1 + RADAR_TRACKS_LEN = 64 + + # model outputs constants + FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32) + FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32) + FCW_5MS2_PROBS_WIDTH = 5 + FCW_3MS2_PROBS_WIDTH = 2 + + DISENGAGE_WIDTH = 5 + POSE_WIDTH = 6 + WIDE_FROM_DEVICE_WIDTH = 3 + LEAD_WIDTH = 4 + LANE_LINES_WIDTH = 2 + ROAD_EDGES_WIDTH = 2 + PLAN_WIDTH = 15 + DESIRE_PRED_WIDTH = 8 + LAT_PLANNER_SOLUTION_WIDTH = 4 + DESIRED_CURV_WIDTH = 1 + RADAR_TRACKS_WIDTH = 3 + + NUM_LANE_LINES = 4 + NUM_ROAD_EDGES = 2 + + LEAD_TRAJ_LEN = 6 + DESIRE_PRED_LEN = 4 + + PLAN_MHP_N = 5 + LEAD_MHP_N = 2 + PLAN_MHP_SELECTION = 1 + LEAD_MHP_SELECTION = 3 + + FCW_THRESHOLD_5MS2_HIGH = 0.15 + FCW_THRESHOLD_5MS2_LOW = 0.05 + FCW_THRESHOLD_3MS2 = 0.7 + + CONFIDENCE_BUFFER_LEN = 5 + RYG_GREEN = 0.01165 + RYG_YELLOW = 0.06157 + +# model outputs slices +class Plan: + POSITION = slice(0, 3) + VELOCITY = slice(3, 6) + ACCELERATION = slice(6, 9) + T_FROM_CURRENT_EULER = slice(9, 12) + ORIENTATION_RATE = slice(12, 15) + +class Meta: + ENGAGED = slice(0, 1) + # next 2, 4, 6, 8, 10 seconds + GAS_DISENGAGE = slice(1, 36, 7) + BRAKE_DISENGAGE = slice(2, 36, 7) + STEER_OVERRIDE = slice(3, 36, 7) + HARD_BRAKE_3 = slice(4, 36, 7) + HARD_BRAKE_4 = slice(5, 36, 7) + HARD_BRAKE_5 = slice(6, 36, 7) + GAS_PRESS = slice(7, 36, 7) + # next 0, 2, 4, 6, 8, 10 seconds + LEFT_BLINKER = slice(36, 48, 2) + RIGHT_BLINKER = slice(37, 48, 2) diff --git a/selfdrive/classic_modeld/dmonitoringmodeld.py b/selfdrive/classic_modeld/dmonitoringmodeld.py new file mode 100644 index 000000000..3d736c0cb --- /dev/null +++ b/selfdrive/classic_modeld/dmonitoringmodeld.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +import os +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.classic_modeld.runners import ModelRunner, Runtime +from openpilot.selfdrive.classic_modeld.models.commonmodel_pyx import sigmoid + +CALIB_LEN = 3 +REG_SCALE = 0.25 +MODEL_WIDTH = 1440 +MODEL_HEIGHT = 960 +OUTPUT_SIZE = 84 +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') +MODEL_PATHS = { + ModelRunner.SNPE: Path(__file__).parent / 'models/dmonitoring_model_q.dlc', + ModelRunner.ONNX: Path(__file__).parent / 'models/dmonitoring_model.onnx'} + +class DriverStateResult(ctypes.Structure): + _fields_ = [ + ("face_orientation", ctypes.c_float*3), + ("face_position", ctypes.c_float*3), + ("face_orientation_std", ctypes.c_float*3), + ("face_position_std", ctypes.c_float*3), + ("face_prob", ctypes.c_float), + ("_unused_a", ctypes.c_float*8), + ("left_eye_prob", ctypes.c_float), + ("_unused_b", ctypes.c_float*8), + ("right_eye_prob", ctypes.c_float), + ("left_blink_prob", ctypes.c_float), + ("right_blink_prob", ctypes.c_float), + ("sunglasses_prob", ctypes.c_float), + ("occluded_prob", ctypes.c_float), + ("ready_prob", ctypes.c_float*4), + ("not_ready_prob", ctypes.c_float*2)] + +class DMonitoringModelResult(ctypes.Structure): + _fields_ = [ + ("driver_state_lhd", DriverStateResult), + ("driver_state_rhd", DriverStateResult), + ("poor_vision_prob", ctypes.c_float), + ("wheel_on_right_prob", ctypes.c_float)] + +class ModelState: + inputs: dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(OUTPUT_SIZE, dtype=np.float32) + self.inputs = { + 'input_img': np.zeros(MODEL_HEIGHT * MODEL_WIDTH, dtype=np.uint8), + 'calib': np.zeros(CALIB_LEN, dtype=np.float32)} + + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model.addInput("input_img", None) + self.model.addInput("calib", self.inputs['calib']) + + def run(self, buf:VisionBuf, calib:np.ndarray) -> tuple[np.ndarray, float]: + self.inputs['calib'][:] = calib + + v_offset = buf.height - MODEL_HEIGHT + h_offset = (buf.width - MODEL_WIDTH) // 2 + buf_data = buf.data.reshape(-1, buf.stride) + input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) + input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] + + t1 = time.perf_counter() + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + + +def fill_driver_state(msg, ds_result: DriverStateResult): + msg.faceOrientation = [x * REG_SCALE for x in ds_result.face_orientation] + msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] + msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] + msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] + msg.faceProb = sigmoid(ds_result.face_prob) + msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) + msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) + msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) + msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) + msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) + msg.occludedProb = sigmoid(ds_result.occluded_prob) + msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] + msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] + +def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents + msg = messaging.new_message('driverStateV2', valid=True) + ds = msg.driverStateV2 + ds.frameId = frame_id + ds.modelExecutionTime = execution_time + ds.dspExecutionTime = dsp_execution_time + ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) + ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' + fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) + fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + model = ModelState() + cloudlog.warning("models loaded, dmonitoringmodeld starting") + Params().put_bool("DmModelInitialized", True) + + cloudlog.warning("connecting to driver stream") + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["liveCalibration"]) + pm = PubMaster(["driverStateV2"]) + + calib = np.zeros(CALIB_LEN, dtype=np.float32) + # last = 0 + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + if sm.updated["liveCalibration"]: + calib[:] = np.array(sm["liveCalibration"].rpyCalib) + + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf, calib) + t2 = time.perf_counter() + + pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + # print("dmonitoring process: %.2fms, from last %.2fms\n" % (t2 - t1, t1 - last)) + # last = t1 + + +if __name__ == "__main__": + main() diff --git a/selfdrive/classic_modeld/fill_model_msg.py b/selfdrive/classic_modeld/fill_model_msg.py new file mode 100644 index 000000000..07f4d7235 --- /dev/null +++ b/selfdrive/classic_modeld/fill_model_msg.py @@ -0,0 +1,205 @@ +import os +import capnp +import numpy as np +from cereal import log +from openpilot.selfdrive.classic_modeld.constants import ModelConstants, Plan, Meta + +SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') + +ConfidenceClass = log.ModelDataV2.ConfidenceClass + +class PublishState: + def __init__(self): + self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) + self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32) + self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32) + +def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None): + builder.t = t + builder.x = x.tolist() + builder.y = y.tolist() + builder.z = z.tolist() + if x_std is not None: + builder.xStd = x_std.tolist() + if y_std is not None: + builder.yStd = y_std.tolist() + if z_std is not None: + builder.zStd = z_std.tolist() + +def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None): + builder.t = t + builder.x = x.tolist() + builder.y = y.tolist() + builder.v = v.tolist() + builder.a = a.tolist() + if x_std is not None: + builder.xStd = x_std.tolist() + if y_std is not None: + builder.yStd = y_std.tolist() + if v_std is not None: + builder.vStd = v_std.tolist() + if a_std is not None: + builder.aStd = a_std.tolist() + +def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState, + vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, + timestamp_eof: int, timestamp_llk: int, model_execution_time: float, valid: bool, nav_enabled: bool) -> None: + frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 + msg.valid = valid + + modelV2 = msg.modelV2 + modelV2.frameId = vipc_frame_id + modelV2.frameIdExtra = vipc_frame_id_extra + modelV2.frameAge = frame_age + modelV2.frameDropPerc = frame_drop * 100 + modelV2.timestampEof = timestamp_eof + modelV2.modelExecutionTime = model_execution_time + modelV2.navEnabled = nav_enabled + + # plan + position = modelV2.position + fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T) + velocity = modelV2.velocity + fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T) + acceleration = modelV2.acceleration + fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T) + orientation = modelV2.orientation + fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T) + orientation_rate = modelV2.orientationRate + fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) + + # lateral planning + action = modelV2.action + action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + + # times at X_IDXS according to model plan + PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N + PLAN_T_IDXS[0] = 0.0 + plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist() + for xidx in range(1, ModelConstants.IDX_N): + tidx = 0 + # increment tidx until we find an element that's further away than the current xidx + while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]: + tidx += 1 + if tidx == ModelConstants.IDX_N - 1: + # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break + PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1] + break + # interpolate to find `t` for the current xidx + current_x_val = plan_x[tidx] + next_x_val = plan_x[tidx+1] + p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan') + PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx] + + # lane lines + modelV2.init('laneLines', 6) + lane_probs = net_output_data['lane_lines_prob'][0,1::2].tolist() + for i in range(6): + lane_line = modelV2.laneLines[i] + if i < 4: + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + elif i == 4: + if lane_probs[0] > 0: + leftLane_x = 0.5 * (net_output_data['lane_lines'][0,0,:,0] + net_output_data['lane_lines'][0,1,:,0]) + leftLane_y = 0.5 * (net_output_data['lane_lines'][0,0,:,1] + net_output_data['lane_lines'][0,1,:,1]) + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), leftLane_x, leftLane_y) + else: + fill_xyzt(lane_line, PLAN_T_IDXS, np.empty((0,)), np.empty((0,)), np.empty((0,))) + elif i == 5: + if lane_probs[3] > 0: + rightLane_x = 0.5 * (net_output_data['lane_lines'][0,2,:,0] + net_output_data['lane_lines'][0,3,:,0]) + rightLane_y = 0.5 * (net_output_data['lane_lines'][0,2,:,1] + net_output_data['lane_lines'][0,3,:,1]) + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), rightLane_x, rightLane_y) + else: + fill_xyzt(lane_line, PLAN_T_IDXS, np.empty((0,)), np.empty((0,)), np.empty((0,))) + modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() + modelV2.laneLineProbs = lane_probs + + # road edges + modelV2.init('roadEdges', 2) + for i in range(2): + road_edge = modelV2.roadEdges[i] + fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1]) + modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist() + + # leads + modelV2.init('leadsV3', 3) + for i in range(3): + lead = modelV2.leadsV3[i] + fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T) + lead.prob = net_output_data['lead_prob'][0,i].tolist() + lead.probTime = ModelConstants.LEAD_T_OFFSETS[i] + + # meta + meta = modelV2.meta + meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist() + meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist() + meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item() + meta.init('disengagePredictions') + disengage_predictions = meta.disengagePredictions + disengage_predictions.t = ModelConstants.META_T_IDXS + disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist() + disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist() + disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist() + disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() + disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() + disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() + + publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] + publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] + publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:] + publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0] + hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \ + (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() + meta.hardBrakePredicted = hard_brake_predicted.item() + + # temporal pose + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + + # confidence + if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: + # any disengage prob + brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE] + gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE] + steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE] + any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs)) + # independent disengage prob for each 2s slice + ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])] + # rolling buf for 2, 4, 6, 8, 10s + publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:] + publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs + + score = 0. + for i in range(ModelConstants.DISENGAGE_WIDTH): + score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH + if score < ModelConstants.RYG_GREEN: + modelV2.confidence = ConfidenceClass.green + elif score < ModelConstants.RYG_YELLOW: + modelV2.confidence = ConfidenceClass.yellow + else: + modelV2.confidence = ConfidenceClass.red + + # raw prediction if enabled + if SEND_RAW_PRED: + modelV2.rawPredictions = net_output_data['raw_pred'].tobytes() + +def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], + vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None: + msg.valid = live_calib_seen & (vipc_dropped_frames < 1) + cameraOdometry = msg.cameraOdometry + + cameraOdometry.frameId = vipc_frame_id + cameraOdometry.timestampEof = timestamp_eof + + cameraOdometry.trans = net_output_data['pose'][0,:3].tolist() + cameraOdometry.rot = net_output_data['pose'][0,3:].tolist() + cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist() + cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist() + cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist() + cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist() + cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist() + cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist() diff --git a/selfdrive/classic_modeld/get_model_metadata.py b/selfdrive/classic_modeld/get_model_metadata.py new file mode 100644 index 000000000..144860204 --- /dev/null +++ b/selfdrive/classic_modeld/get_model_metadata.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +import sys +import pathlib +import onnx +import codecs +import pickle + +def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]: + shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim]) + name = value_info.name + return name, shape + +if __name__ == "__main__": + model_path = pathlib.Path(sys.argv[1]) + model = onnx.load(str(model_path)) + i = [x.key for x in model.metadata_props].index('output_slices') + output_slices = model.metadata_props[i].value + + metadata = {} + metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64")) + metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input]) + metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output]) + + metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl') + with open(metadata_path, 'wb') as f: + pickle.dump(metadata, f) + + print(f'saved metadata to {metadata_path}') diff --git a/selfdrive/classic_modeld/libthneed.so b/selfdrive/classic_modeld/libthneed.so new file mode 100644 index 000000000..d55745b50 Binary files /dev/null and b/selfdrive/classic_modeld/libthneed.so differ diff --git a/selfdrive/classic_modeld/models/README.md b/selfdrive/classic_modeld/models/README.md new file mode 100644 index 000000000..fa12d6867 --- /dev/null +++ b/selfdrive/classic_modeld/models/README.md @@ -0,0 +1,62 @@ +## Neural networks in openpilot +To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) + +## Supercombo +### Supercombo input format (Full size: 799906 x float32) +* **image stream** + * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 + * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 + * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] + * Channel 4 represents the half-res U channel + * Channel 5 represents the half-res V channel +* **wide image stream** + * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 + * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 + * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] + * Channel 4 represents the half-res U channel + * Channel 5 represents the half-res V channel +* **desire** + * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 +* **traffic convention** + * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 +* **feature buffer** + * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512 + + +### Supercombo output format (Full size: XXX x float32) +Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/classic_modeld/models/driving.h#L236) for more. + + +## Driver Monitoring Model +* .onnx model can be run with onnx runtimes +* .dlc file is a pre-quantized model and only runs on qualcomm DSPs + +### input format +* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format: + * full input size is 1440 * 960 = 1382400 + * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner) +* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs + +### output format +* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/classic_modeld/models/dmonitoring.cc#L33)) + * for each person in the front seats (2 * 41) + * face pose: 12 = 6 + 6 + * face orientation [pitch, yaw, roll] in camera frame: 3 + * face position [dx, dy] relative to image center: 2 + * normalized face size: 1 + * standard deviations for above outputs: 6 + * face visible probability: 1 + * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1 + * eye position and size, and their standard deviations: 8 + * eye visible probability: 1 + * eye closed probability: 1 + * wearing sunglasses probability: 1 + * face occluded probability: 1 + * touching wheel probability: 1 + * paying attention probability: 1 + * (deprecated) distracted probabilities: 2 + * using phone probability: 1 + * distracted probability: 1 + * common outputs 2 + * poor camera vision probability: 1 + * left hand drive probability: 1 diff --git a/selfdrive/classic_modeld/models/__init__.py b/selfdrive/classic_modeld/models/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/classic_modeld/models/commonmodel.pxd b/selfdrive/classic_modeld/models/commonmodel.pxd new file mode 100644 index 000000000..b67e866fb --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel.pxd @@ -0,0 +1,20 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + +cdef extern from "selfdrive/classic_modeld/models/commonmodel.h": + float sigmoid(float) + + cppclass ModelFrame: + int buf_size + ModelFrame(cl_device_id, cl_context) + float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.cpp b/selfdrive/classic_modeld/models/commonmodel_pyx.cpp new file mode 100644 index 000000000..11f638902 --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel_pyx.cpp @@ -0,0 +1,32064 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/clutil.h", + "common/mat.h", + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/models/commonmodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.models.commonmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/models/commonmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.models.commonmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__models__commonmodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__models__commonmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "common/mat.h" +#include "common/clutil.h" +#include "selfdrive/classic_modeld/models/commonmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/models/commonmodel_pyx.pyx", + "__init__.cython-30.pxd", + "msgq/visionipc/visionipc_pyx.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pyx":28 + * return mem + * + * cdef class ModelFrame: # <<<<<<<<<<<<<< + * cdef cppModelFrame * frame + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame { + PyObject_HEAD + ModelFrame *frame; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pyx":21 + * self.context = cl_create_context(self.device_id) + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * @staticmethod + * cdef create(void * cmem): + */ + +struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ +static PyObject *__pyx_f_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_create(void *__pyx_v_cmem); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float32_t = { "float32_t", NULL, sizeof(__pyx_t_5numpy_float32_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.models.commonmodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__models__commonmodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__models__commonmodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.models.commonmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_x[] = "x"; + static const char __pyx_k__2[] = "."; + static const char __pyx_k__3[] = "*"; + static const char __pyx_k__6[] = "'"; + static const char __pyx_k__7[] = ")"; + static const char __pyx_k__9[] = "^"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k__10[] = ""; + static const char __pyx_k__11[] = ":"; +static const char __pyx_k__12[] = "}"; +static const char __pyx_k__13[] = "("; +static const char __pyx_k__14[] = ","; +static const char __pyx_k__40[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_buf[] = "buf"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_CLMem[] = "CLMem"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stride[] = "stride"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "prepare"; +static const char __pyx_k_sigmoid[] = "sigmoid"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CLContext[] = "CLContext"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_uv_offset[] = "uv_offset"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ModelFrame[] = "ModelFrame"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_projection[] = "projection"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cprojection[] = "cprojection"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_ModelFrame_prepare[] = "ModelFrame.prepare"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_CLMem___reduce_cython[] = "CLMem.__reduce_cython__"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_CLMem___setstate_cython[] = "CLMem.__setstate_cython__"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_CLContext___reduce_cython[] = "CLContext.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_ModelFrame___reduce_cython[] = "ModelFrame.__reduce_cython__"; +static const char __pyx_k_CLContext___setstate_cython[] = "CLContext.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ModelFrame___setstate_cython[] = "ModelFrame.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_mem_cannot_be_converted_to[] = "self.mem cannot be converted to a Python object for pickling"; +static const char __pyx_k_selfdrive_classic_modeld_models[] = "selfdrive/classic_modeld/models/commonmodel_pyx.pyx"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_classic_modeld_models_2[] = "selfdrive.classic_modeld.models.commonmodel_pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_sigmoid(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem___reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_2__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static void __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_2__dealloc__(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_4prepare(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_buf, __Pyx_memviewslice __pyx_v_projection, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_output); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject 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PyObject *__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + PyObject *__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject 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*__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__36; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__34; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__38; + PyObject *__pyx_codeobj__39; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define 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Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame_prepare); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_b__10); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_u__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__40); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_kp_b__9); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_cprojection); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_height); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_projection); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_classic_modeld_models); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_models_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_sigmoid); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_stride); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_uv_offset); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_width); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__19); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__21); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__34); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__38); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame_prepare); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_b__10); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_u__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__40); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_kp_b__9); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_cprojection); + Py_VISIT(traverse_module_state->__pyx_n_s_data); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_height); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_join); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + 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Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_classic_modeld_models); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_models_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_sigmoid); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_n_s_stride); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_uv_offset); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_n_s_width); + Py_VISIT(traverse_module_state->__pyx_n_s_x); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__19); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__21); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__30); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__34); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__38); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CLContext __pyx_mstate_global->__pyx_n_s_CLContext +#define __pyx_n_s_CLContext___reduce_cython __pyx_mstate_global->__pyx_n_s_CLContext___reduce_cython +#define __pyx_n_s_CLContext___setstate_cython __pyx_mstate_global->__pyx_n_s_CLContext___setstate_cython +#define __pyx_n_s_CLMem __pyx_mstate_global->__pyx_n_s_CLMem +#define __pyx_n_s_CLMem___reduce_cython __pyx_mstate_global->__pyx_n_s_CLMem___reduce_cython +#define __pyx_n_s_CLMem___setstate_cython __pyx_mstate_global->__pyx_n_s_CLMem___setstate_cython +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_ModelFrame __pyx_mstate_global->__pyx_n_s_ModelFrame +#define __pyx_n_s_ModelFrame___reduce_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___reduce_cython +#define __pyx_n_s_ModelFrame___setstate_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___setstate_cython +#define __pyx_n_s_ModelFrame_prepare __pyx_mstate_global->__pyx_n_s_ModelFrame_prepare +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_b__10 __pyx_mstate_global->__pyx_kp_b__10 +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_u__13 __pyx_mstate_global->__pyx_kp_u__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__40 __pyx_mstate_global->__pyx_n_s__40 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_kp_b__9 __pyx_mstate_global->__pyx_kp_b__9 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buf __pyx_mstate_global->__pyx_n_s_buf +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_cprojection __pyx_mstate_global->__pyx_n_s_cprojection +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_height __pyx_mstate_global->__pyx_n_s_height +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_projection __pyx_mstate_global->__pyx_n_s_projection +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_mem_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_mem_cannot_be_converted_to +#define __pyx_kp_s_selfdrive_classic_modeld_models __pyx_mstate_global->__pyx_kp_s_selfdrive_classic_modeld_models +#define __pyx_n_s_selfdrive_classic_modeld_models_2 __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_models_2 +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_sigmoid __pyx_mstate_global->__pyx_n_s_sigmoid +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_stride __pyx_mstate_global->__pyx_n_s_stride +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_uv_offset __pyx_mstate_global->__pyx_n_s_uv_offset +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_width __pyx_mstate_global->__pyx_n_s_width +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__34 __pyx_mstate_global->__pyx_codeobj__34 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__38 __pyx_mstate_global->__pyx_codeobj__38 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +/* #### Code section: module_code ### */ + +/* "View.MemoryView":131 + * cdef bint dtype_is_object + * + * def __cinit__(array self, tuple shape, Py_ssize_t itemsize, format not None, # <<<<<<<<<<<<<< + * mode="c", bint allocate_buffer=True): + * + */ + +/* Python wrapper */ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds); /*proto*/ +static int __pyx_array___cinit__(PyObject *__pyx_v_self, PyObject *__pyx_args, PyObject *__pyx_kwds) { + PyObject *__pyx_v_shape = 0; + Py_ssize_t __pyx_v_itemsize; + PyObject *__pyx_v_format = 0; + PyObject *__pyx_v_mode = 0; + int __pyx_v_allocate_buffer; + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[5] = {0,0,0,0,0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__cinit__ (wrapper)", 0); 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__Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_shape)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_itemsize)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(0, 131, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_format)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[2]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, 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new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # 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= NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* 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mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* 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<<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * 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+#endif +) { + CYTHON_UNUSED PyObject *__pyx_v___pyx_state = 0; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.classic_modeld.models.commonmodel_pyx.ModelFrame.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(((struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject 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__pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("selfdrive.classic_modeld.models.commonmodel_pyx.ModelFrame.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_9CLContext_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.CLContext", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""CLContext", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_vtable_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *)o); + p->__pyx_vtab = __pyx_vtabptr_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + return o; +} + +static void __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_5CLMem_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.CLMem", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""CLMem", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame[] = { + {"prepare", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_5prepare, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_10ModelFrame_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.ModelFrame", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""ModelFrame", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.classic_modeld.models.commonmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.models.commonmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, 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+ #ifdef __cplusplus +} /* anonymous namespace */ +#endif +#endif + +#ifndef CYTHON_NO_PYINIT_EXPORT +#define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC +#elif PY_MAJOR_VERSION < 3 +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" void +#else +#define __Pyx_PyMODINIT_FUNC void +#endif +#else +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" PyObject * +#else +#define __Pyx_PyMODINIT_FUNC PyObject * +#endif +#endif + + +#if PY_MAJOR_VERSION < 3 +__Pyx_PyMODINIT_FUNC initcommonmodel_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC initcommonmodel_pyx(void) +#else +__Pyx_PyMODINIT_FUNC PyInit_commonmodel_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_commonmodel_pyx(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_float32_t(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(__pyx_t_5numpy_float32_t *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_float32_t(const char *itemp, PyObject *obj) { + __pyx_t_5numpy_float32_t value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == ((npy_float32)-1)) && PyErr_Occurred())) + return 0; + *(__pyx_t_5numpy_float32_t *) itemp = value; + return 1; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__40); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.pxd b/selfdrive/classic_modeld/models/commonmodel_pyx.pxd new file mode 100644 index 000000000..0bb798625 --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem + + @staticmethod + cdef create(void*) diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.pyx b/selfdrive/classic_modeld/models/commonmodel_pyx.pyx new file mode 100644 index 000000000..e292bb0d2 --- /dev/null +++ b/selfdrive/classic_modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,47 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context +from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame + +def sigmoid(x): + return cppSigmoid(x) + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + +cdef class ModelFrame: + cdef cppModelFrame * frame + + def __cinit__(self, CLContext context): + self.frame = new cppModelFrame(context.device_id, context.context) + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection, CLMem output): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef float * data + if output is None: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) + else: + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) + if not data: + return None + return np.asarray( data) diff --git a/selfdrive/classic_modeld/models/commonmodel_pyx.so b/selfdrive/classic_modeld/models/commonmodel_pyx.so new file mode 100644 index 000000000..e38eb7cda Binary files /dev/null and b/selfdrive/classic_modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/classic_modeld/models/dmonitoring_model.current b/selfdrive/classic_modeld/models/dmonitoring_model.current new file mode 100644 index 000000000..f935ab06b --- /dev/null +++ b/selfdrive/classic_modeld/models/dmonitoring_model.current @@ -0,0 +1,2 @@ +5ec97a39-0095-4cea-adfa-6d72b1966cc1 +26cac7a9757a27c783a365403040a1bd27ccdaea \ No newline at end of file diff --git a/selfdrive/classic_modeld/models/dmonitoring_model_q.dlc b/selfdrive/classic_modeld/models/dmonitoring_model_q.dlc new file mode 100644 index 000000000..1ed22c82e Binary files /dev/null and b/selfdrive/classic_modeld/models/dmonitoring_model_q.dlc differ diff --git a/selfdrive/classic_modeld/models/navmodel_q.dlc b/selfdrive/classic_modeld/models/navmodel_q.dlc new file mode 100644 index 000000000..505d5c556 Binary files /dev/null and b/selfdrive/classic_modeld/models/navmodel_q.dlc differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/classic_modeld/models/supercombo.thneed similarity index 79% rename from selfdrive/modeld/models/supercombo.thneed rename to selfdrive/classic_modeld/models/supercombo.thneed index cec089df2..1bc870e0c 100644 Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/classic_modeld/models/supercombo.thneed differ diff --git a/selfdrive/classic_modeld/models/supercombo_metadata.pkl b/selfdrive/classic_modeld/models/supercombo_metadata.pkl new file mode 100644 index 000000000..6a8b5729b Binary files /dev/null and b/selfdrive/classic_modeld/models/supercombo_metadata.pkl differ diff --git a/selfdrive/classic_modeld/navmodeld.py b/selfdrive/classic_modeld/navmodeld.py new file mode 100644 index 000000000..8b3ada2e2 --- /dev/null +++ b/selfdrive/classic_modeld/navmodeld.py @@ -0,0 +1,111 @@ +#!/usr/bin/env python3 +import gc +import math +import time +import ctypes +import numpy as np +from pathlib import Path + +from cereal import messaging +from cereal.messaging import PubMaster, SubMaster +from msgq.visionipc import VisionIpcClient, VisionStreamType +from openpilot.common.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.classic_modeld.constants import ModelConstants +from openpilot.selfdrive.classic_modeld.runners import ModelRunner, Runtime + +NAV_INPUT_SIZE = 256*256 +NAV_FEATURE_LEN = 256 +NAV_DESIRE_LEN = 32 +NAV_OUTPUT_SIZE = 2*2*ModelConstants.IDX_N + NAV_DESIRE_LEN + NAV_FEATURE_LEN +MODEL_PATHS = { + ModelRunner.SNPE: Path(__file__).parent / 'models/navmodel_q.dlc', + ModelRunner.ONNX: Path(__file__).parent / 'models/navmodel.onnx'} + +class NavModelOutputXY(ctypes.Structure): + _fields_ = [ + ("x", ctypes.c_float), + ("y", ctypes.c_float)] + +class NavModelOutputPlan(ctypes.Structure): + _fields_ = [ + ("mean", NavModelOutputXY*ModelConstants.IDX_N), + ("std", NavModelOutputXY*ModelConstants.IDX_N)] + +class NavModelResult(ctypes.Structure): + _fields_ = [ + ("plan", NavModelOutputPlan), + ("desire_pred", ctypes.c_float*NAV_DESIRE_LEN), + ("features", ctypes.c_float*NAV_FEATURE_LEN)] + +class ModelState: + inputs: dict[str, np.ndarray] + output: np.ndarray + model: ModelRunner + + def __init__(self): + assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float) + self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32) + self.inputs = {'input_img': np.zeros(NAV_INPUT_SIZE, dtype=np.uint8)} + self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.DSP, True, None) + self.model.addInput("input_img", None) + + def run(self, buf:np.ndarray) -> tuple[np.ndarray, float]: + self.inputs['input_img'][:] = buf + + t1 = time.perf_counter() + self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + self.model.execute() + t2 = time.perf_counter() + return self.output, t2 - t1 + +def get_navmodel_packet(model_output: np.ndarray, valid: bool, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): + model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(NavModelResult)).contents + msg = messaging.new_message('navModel') + msg.valid = valid + msg.navModel.frameId = frame_id + msg.navModel.locationMonoTime = location_ts + msg.navModel.modelExecutionTime = execution_time + msg.navModel.dspExecutionTime = dsp_execution_time + msg.navModel.features = model_result.features[:] + msg.navModel.desirePrediction = model_result.desire_pred[:] + msg.navModel.position.x = [p.x for p in model_result.plan.mean] + msg.navModel.position.y = [p.y for p in model_result.plan.mean] + msg.navModel.position.xStd = [math.exp(p.x) for p in model_result.plan.std] + msg.navModel.position.yStd = [math.exp(p.y) for p in model_result.plan.std] + return msg + + +def main(): + gc.disable() + set_realtime_priority(1) + + model = ModelState() + cloudlog.warning("models loaded, navmodeld starting") + + vipc_client = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) + while not vipc_client.connect(False): + time.sleep(0.1) + assert vipc_client.is_connected() + cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}") + + sm = SubMaster(["navInstruction"]) + pm = PubMaster(["navModel"]) + + while True: + buf = vipc_client.recv() + if buf is None: + continue + + sm.update(0) + t1 = time.perf_counter() + model_output, dsp_execution_time = model.run(buf.data[:buf.uv_offset]) + t2 = time.perf_counter() + + valid = vipc_client.valid and sm.valid["navInstruction"] + pm.send("navModel", get_navmodel_packet(model_output, valid, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time)) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/classic_modeld/parse_model_outputs.py b/selfdrive/classic_modeld/parse_model_outputs.py new file mode 100644 index 000000000..804d77689 --- /dev/null +++ b/selfdrive/classic_modeld/parse_model_outputs.py @@ -0,0 +1,103 @@ +import numpy as np +from openpilot.selfdrive.classic_modeld.constants import ModelConstants + +def sigmoid(x): + return 1. / (1. + np.exp(-x)) + +def softmax(x, axis=-1): + x -= np.max(x, axis=axis, keepdims=True) + if x.dtype == np.float32 or x.dtype == np.float64: + np.exp(x, out=x) + else: + x = np.exp(x) + x /= np.sum(x, axis=axis, keepdims=True) + return x + +class Parser: + def __init__(self, ignore_missing=False): + self.ignore_missing = ignore_missing + + def check_missing(self, outs, name): + if name not in outs and not self.ignore_missing: + raise ValueError(f"Missing output {name}") + return name not in outs + + def parse_categorical_crossentropy(self, name, outs, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + if out_shape is not None: + raw = raw.reshape((raw.shape[0],) + out_shape) + outs[name] = softmax(raw, axis=-1) + + def parse_binary_crossentropy(self, name, outs): + if self.check_missing(outs, name): + return + raw = outs[name] + outs[name] = sigmoid(raw) + + def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None): + if self.check_missing(outs, name): + return + raw = outs[name] + raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) + + pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2] + n_values = (raw.shape[2] - out_N)//2 + pred_mu = raw[:,:,:n_values] + pred_std = np.exp(raw[:,:,n_values: 2*n_values]) + + if in_N > 1: + weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) + for i in range(out_N): + weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1) + + if out_N == 1: + for fidx in range(weights.shape[0]): + idxs = np.argsort(weights[fidx][:,0])[::-1] + weights[fidx] = weights[fidx][idxs] + pred_mu[fidx] = pred_mu[fidx][idxs] + pred_std[fidx] = pred_std[fidx][idxs] + full_shape = tuple([raw.shape[0], in_N] + list(out_shape)) + outs[name + '_weights'] = weights + outs[name + '_hypotheses'] = pred_mu.reshape(full_shape) + outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape) + + pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype) + for fidx in range(weights.shape[0]): + for hidx in range(out_N): + idxs = np.argsort(weights[fidx,:,hidx])[::-1] + pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]] + pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]] + else: + pred_mu_final = pred_mu + pred_std_final = pred_std + + if out_N > 1: + final_shape = tuple([raw.shape[0], out_N] + list(out_shape)) + else: + final_shape = tuple([raw.shape[0],] + list(out_shape)) + outs[name] = pred_mu_final.reshape(final_shape) + outs[name + '_stds'] = pred_std_final.reshape(final_shape) + + def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: + self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) + self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) + self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,)) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) + if 'lat_planner_solution' in outs: + self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) + if 'desired_curvature' in outs: + self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) + for k in ['lead_prob', 'lane_lines_prob', 'meta']: + self.parse_binary_crossentropy(k, outs) + self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) + self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) + return outs diff --git a/selfdrive/classic_modeld/runners/__init__.py b/selfdrive/classic_modeld/runners/__init__.py new file mode 100644 index 000000000..2c809317a --- /dev/null +++ b/selfdrive/classic_modeld/runners/__init__.py @@ -0,0 +1,27 @@ +import os +from openpilot.system.hardware import TICI +from openpilot.selfdrive.classic_modeld.runners.runmodel_pyx import RunModel, Runtime +assert Runtime + +USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI)))) +USE_SNPE = int(os.getenv('USE_SNPE', str(int(TICI)))) + +class ModelRunner(RunModel): + THNEED = 'THNEED' + SNPE = 'SNPE' + ONNX = 'ONNX' + + def __new__(cls, paths, *args, **kwargs): + if ModelRunner.THNEED in paths and USE_THNEED: + from openpilot.selfdrive.classic_modeld.runners.thneedmodel_pyx import ThneedModel as Runner + runner_type = ModelRunner.THNEED + elif ModelRunner.SNPE in paths and USE_SNPE: + from openpilot.selfdrive.classic_modeld.runners.snpemodel_pyx import SNPEModel as Runner + runner_type = ModelRunner.SNPE + elif ModelRunner.ONNX in paths: + from openpilot.selfdrive.classic_modeld.runners.onnxmodel import ONNXModel as Runner + runner_type = ModelRunner.ONNX + else: + raise Exception("Couldn't select a model runner, make sure to pass at least one valid model path") + + return Runner(str(paths[runner_type]), *args, **kwargs) diff --git a/selfdrive/classic_modeld/runners/onnxmodel.py b/selfdrive/classic_modeld/runners/onnxmodel.py new file mode 100644 index 000000000..41064a8d0 --- /dev/null +++ b/selfdrive/classic_modeld/runners/onnxmodel.py @@ -0,0 +1,93 @@ +import onnx +import itertools +import os +import sys +import numpy as np +from typing import Any + +from openpilot.selfdrive.classic_modeld.runners.runmodel_pyx import RunModel + +ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} + +def attributeproto_fp16_to_fp32(attr): + float32_list = np.frombuffer(attr.raw_data, dtype=np.float16) + attr.data_type = 1 + attr.raw_data = float32_list.astype(np.float32).tobytes() + +def convert_fp16_to_fp32(path): + model = onnx.load(path) + for i in model.graph.initializer: + if i.data_type == 10: + attributeproto_fp16_to_fp32(i) + for i in itertools.chain(model.graph.input, model.graph.output): + if i.type.tensor_type.elem_type == 10: + i.type.tensor_type.elem_type = 1 + for i in model.graph.node: + for a in i.attribute: + if hasattr(a, 't'): + if a.t.data_type == 10: + attributeproto_fp16_to_fp32(a.t) + return model.SerializeToString() + +def create_ort_session(path, fp16_to_fp32): + os.environ["OMP_NUM_THREADS"] = "4" + os.environ["OMP_WAIT_POLICY"] = "PASSIVE" + + import onnxruntime as ort + print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) + options = ort.SessionOptions() + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL + + provider: str | tuple[str, dict[Any, Any]] + if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + provider = 'OpenVINOExecutionProvider' + elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + options.intra_op_num_threads = 2 + provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) + else: + options.intra_op_num_threads = 2 + options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL + provider = 'CPUExecutionProvider' + + model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path + print("Onnx selected provider: ", [provider], file=sys.stderr) + ort_session = ort.InferenceSession(model_data, options, providers=[provider]) + print("Onnx using ", ort_session.get_providers(), file=sys.stderr) + return ort_session + + +class ONNXModel(RunModel): + def __init__(self, path, output, runtime, use_tf8, cl_context): + self.inputs = {} + self.output = output + self.use_tf8 = use_tf8 + + self.session = create_ort_session(path, fp16_to_fp32=True) + self.input_names = [x.name for x in self.session.get_inputs()] + self.input_shapes = {x.name: [1, *x.shape[1:]] for x in self.session.get_inputs()} + self.input_dtypes = {x.name: ORT_TYPES_TO_NP_TYPES[x.type] for x in self.session.get_inputs()} + + # run once to initialize CUDA provider + if "CUDAExecutionProvider" in self.session.get_providers(): + self.session.run(None, {k: np.zeros(self.input_shapes[k], dtype=self.input_dtypes[k]) for k in self.input_names}) + print("ready to run onnx model", self.input_shapes, file=sys.stderr) + + def addInput(self, name, buffer): + assert name in self.input_names + self.inputs[name] = buffer + + def setInputBuffer(self, name, buffer): + assert name in self.inputs + self.inputs[name] = buffer + + def getCLBuffer(self, name): + return None + + def execute(self): + inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} + outputs = self.session.run(None, inputs) + assert len(outputs) == 1, "Only single model outputs are supported" + self.output[:] = outputs[0] + return self.output diff --git a/selfdrive/classic_modeld/runners/runmodel.pxd b/selfdrive/classic_modeld/runners/runmodel.pxd new file mode 100644 index 000000000..35f9c6de1 --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel.pxd @@ -0,0 +1,14 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +cdef extern from "selfdrive/classic_modeld/runners/runmodel.h": + cdef int USE_CPU_RUNTIME + cdef int USE_GPU_RUNTIME + cdef int USE_DSP_RUNTIME + + cdef cppclass RunModel: + void addInput(string, float*, int) + void setInputBuffer(string, float*, int) + void * getCLBuffer(string) + void execute() diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.cpp b/selfdrive/classic_modeld/runners/runmodel_pyx.cpp new file mode 100644 index 000000000..f94047fb2 --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel_pyx.cpp @@ -0,0 +1,28888 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/runners/runmodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.runners.runmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/runners/runmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.runners.runmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__runners__runmodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__runners__runmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include "selfdrive/classic_modeld/runners/runmodel.h" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/runners/runmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/classic_modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); 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+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.runners.runmodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__runners__runmodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__runners__runmodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.runners.runmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_CPU[] = "CPU"; +static const char __pyx_k_DSP[] = "DSP"; +static const char __pyx_k_GPU[] = "GPU"; +static const char __pyx_k__30[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_buffer[] = "buffer"; +static const char __pyx_k_cl_buf[] = "cl_buf"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_Runtime[] = "Runtime"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_execute[] = "execute"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_RunModel[] = "RunModel"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_addInput[] = "addInput"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_getCLBuffer[] = "getCLBuffer"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_setInputBuffer[] = "setInputBuffer"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_RunModel_execute[] = "RunModel.execute"; +static const char __pyx_k_RunModel_addInput[] = "RunModel.addInput"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_RunModel_getCLBuffer[] = "RunModel.getCLBuffer"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_RunModel_setInputBuffer[] = "RunModel.setInputBuffer"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_RunModel___reduce_cython[] = "RunModel.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_RunModel___setstate_cython[] = "RunModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_self_model_cannot_be_converted_t[] = "self.model cannot be converted to a Python object for pickling"; +static const char __pyx_k_selfdrive_classic_modeld_runners[] = "selfdrive.classic_modeld.runners.runmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_classic_modeld_runners_2[] = "selfdrive/classic_modeld/runners/runmodel_pyx.pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel___dealloc__(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_2addInput(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_4setInputBuffer(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_6getCLBuffer(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_8execute(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_s_CPU; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_n_s_DSP; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_GPU; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_RunModel; + PyObject *__pyx_n_s_RunModel___reduce_cython; + PyObject *__pyx_n_s_RunModel___setstate_cython; + PyObject *__pyx_n_s_RunModel_addInput; + PyObject *__pyx_n_s_RunModel_execute; + PyObject *__pyx_n_s_RunModel_getCLBuffer; + PyObject *__pyx_n_s_RunModel_setInputBuffer; + PyObject *__pyx_n_s_Runtime; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__30; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_addInput; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_buffer; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_cl_buf; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_execute; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getCLBuffer; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_init_subclass; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_metaclass; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_module; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_qualname; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_model_cannot_be_converted_t; + PyObject *__pyx_n_s_selfdrive_classic_modeld_runners; + PyObject *__pyx_kp_s_selfdrive_classic_modeld_runners_2; + PyObject *__pyx_n_s_setInputBuffer; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__28; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__22; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_n_s_DSP); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_GPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_Runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__30); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buffer); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_cl_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_classic_modeld_runners_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_n_s_DSP); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_GPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_Runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__30); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buffer); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_cl_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_classic_modeld_runners_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CPU __pyx_mstate_global->__pyx_n_s_CPU +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_n_s_DSP __pyx_mstate_global->__pyx_n_s_DSP +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_GPU __pyx_mstate_global->__pyx_n_s_GPU +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_RunModel __pyx_mstate_global->__pyx_n_s_RunModel +#define __pyx_n_s_RunModel___reduce_cython __pyx_mstate_global->__pyx_n_s_RunModel___reduce_cython +#define __pyx_n_s_RunModel___setstate_cython __pyx_mstate_global->__pyx_n_s_RunModel___setstate_cython +#define __pyx_n_s_RunModel_addInput __pyx_mstate_global->__pyx_n_s_RunModel_addInput +#define __pyx_n_s_RunModel_execute __pyx_mstate_global->__pyx_n_s_RunModel_execute +#define __pyx_n_s_RunModel_getCLBuffer __pyx_mstate_global->__pyx_n_s_RunModel_getCLBuffer +#define __pyx_n_s_RunModel_setInputBuffer __pyx_mstate_global->__pyx_n_s_RunModel_setInputBuffer +#define __pyx_n_s_Runtime __pyx_mstate_global->__pyx_n_s_Runtime +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__30 __pyx_mstate_global->__pyx_n_s__30 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_addInput __pyx_mstate_global->__pyx_n_s_addInput +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buffer __pyx_mstate_global->__pyx_n_s_buffer +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_cl_buf __pyx_mstate_global->__pyx_n_s_cl_buf +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_execute __pyx_mstate_global->__pyx_n_s_execute +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getCLBuffer __pyx_mstate_global->__pyx_n_s_getCLBuffer +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_model_cannot_be_converted_t __pyx_mstate_global->__pyx_kp_s_self_model_cannot_be_converted_t +#define __pyx_n_s_selfdrive_classic_modeld_runners __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_runners +#define __pyx_kp_s_selfdrive_classic_modeld_runners_2 __pyx_mstate_global->__pyx_kp_s_selfdrive_classic_modeld_runners_2 +#define __pyx_n_s_setInputBuffer __pyx_mstate_global->__pyx_n_s_setInputBuffer +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__22 __pyx_mstate_global->__pyx_codeobj__22 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return 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__pyx_memoryview_obj *)__pyx_t_2); + __pyx_t_2 = 0; + goto __pyx_L0; + } + + /* "View.MemoryView":711 + * + * @cname('__pyx_memview_slice') + * cdef memoryview memview_slice(memoryview memview, object indices): # <<<<<<<<<<<<<< + * cdef int new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* 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Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; 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(src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += 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__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for 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&tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # 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(PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_7getCLBuffer, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"execute", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_9execute, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_8RunModel_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel_slots[] = { + {Py_tp_dealloc, (void 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PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.classic_modeld.runners.runmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.runmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_k_All_dimensions_preceding_dimensi, sizeof(__pyx_k_All_dimensions_preceding_dimensi), 0, 0, 1, 0}, + {&__pyx_n_s_AssertionError, __pyx_k_AssertionError, sizeof(__pyx_k_AssertionError), 0, 0, 1, 1}, + {&__pyx_kp_s_Buffer_view_does_not_expose_stri, __pyx_k_Buffer_view_does_not_expose_stri, 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__30); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.pxd b/selfdrive/classic_modeld/runners/runmodel_pyx.pxd new file mode 100644 index 000000000..b6ede7cf3 --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel_pyx.pxd @@ -0,0 +1,6 @@ +# distutils: language = c++ + +from .runmodel cimport RunModel as cppRunModel + +cdef class RunModel: + cdef cppRunModel * model diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.pyx b/selfdrive/classic_modeld/runners/runmodel_pyx.pyx new file mode 100644 index 000000000..4c1ab2c8f --- /dev/null +++ b/selfdrive/classic_modeld/runners/runmodel_pyx.pyx @@ -0,0 +1,37 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp.string cimport string + +from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME +from selfdrive.classic_modeld.models.commonmodel_pyx cimport CLMem + +class Runtime: + CPU = USE_CPU_RUNTIME + GPU = USE_GPU_RUNTIME + DSP = USE_DSP_RUNTIME + +cdef class RunModel: + def __dealloc__(self): + del self.model + + def addInput(self, string name, float[:] buffer): + if buffer is not None: + self.model.addInput(name, &buffer[0], len(buffer)) + else: + self.model.addInput(name, NULL, 0) + + def setInputBuffer(self, string name, float[:] buffer): + if buffer is not None: + self.model.setInputBuffer(name, &buffer[0], len(buffer)) + else: + self.model.setInputBuffer(name, NULL, 0) + + def getCLBuffer(self, string name): + cdef void * cl_buf = self.model.getCLBuffer(name) + if not cl_buf: + return None + return CLMem.create(cl_buf) + + def execute(self): + self.model.execute() diff --git a/selfdrive/classic_modeld/runners/runmodel_pyx.so b/selfdrive/classic_modeld/runners/runmodel_pyx.so new file mode 100644 index 000000000..6f4431dcc Binary files /dev/null and b/selfdrive/classic_modeld/runners/runmodel_pyx.so differ diff --git a/selfdrive/classic_modeld/runners/snpemodel.pxd b/selfdrive/classic_modeld/runners/snpemodel.pxd new file mode 100644 index 000000000..2a0923128 --- /dev/null +++ b/selfdrive/classic_modeld/runners/snpemodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from msgq.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/classic_modeld/runners/snpemodel.h": + cdef cppclass SNPEModel: + SNPEModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/classic_modeld/runners/snpemodel_pyx.cpp b/selfdrive/classic_modeld/runners/snpemodel_pyx.cpp new file mode 100644 index 000000000..193403a0c --- /dev/null +++ b/selfdrive/classic_modeld/runners/snpemodel_pyx.cpp @@ -0,0 +1,27817 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/runners/runmodel.h", + "selfdrive/classic_modeld/runners/snpemodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.runners.snpemodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.runners.snpemodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__runners__snpemodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__runners__snpemodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/classic_modeld/runners/snpemodel.h" +#include "selfdrive/classic_modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/runners/snpemodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/classic_modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/classic_modeld/runners/snpemodel_pyx.pyx":15 + * os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + * + * cdef class SNPEModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel { + struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ + +struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.snpemodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.snpemodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.runners.snpemodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__runners__snpemodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__runners__snpemodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.runners.snpemodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_environ[] = "environ"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_SNPEModel[] = "SNPEModel"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ADSP_LIBRARY_PATH[] = "ADSP_LIBRARY_PATH"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_SNPEModel___reduce_cython[] = "SNPEModel.__reduce_cython__"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_SNPEModel___setstate_cython[] = "SNPEModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_data_pythonpath_third_party_snp[] = "/data/pythonpath/third_party/snpe/dsp/"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_classic_modeld_runners[] = "selfdrive.classic_modeld.runners.snpemodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ADSP_LIBRARY_PATH; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_SNPEModel; + PyObject *__pyx_n_s_SNPEModel___reduce_cython; + PyObject *__pyx_n_s_SNPEModel___setstate_cython; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_kp_s_data_pythonpath_third_party_snp; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_environ; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_os; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_classic_modeld_runners; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ADSP_LIBRARY_PATH); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_kp_s_data_pythonpath_third_party_snp); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_environ); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_os); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ADSP_LIBRARY_PATH); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_kp_s_data_pythonpath_third_party_snp); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_environ); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_os); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ADSP_LIBRARY_PATH __pyx_mstate_global->__pyx_n_s_ADSP_LIBRARY_PATH +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_SNPEModel __pyx_mstate_global->__pyx_n_s_SNPEModel +#define __pyx_n_s_SNPEModel___reduce_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___reduce_cython +#define __pyx_n_s_SNPEModel___setstate_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___setstate_cython +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_kp_s_data_pythonpath_third_party_snp __pyx_mstate_global->__pyx_kp_s_data_pythonpath_third_party_snp +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_environ __pyx_mstate_global->__pyx_n_s_environ +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_classic_modeld_runners __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_runners +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string 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__Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " # <<<<<<<<<<<<<< + * "must be indexed and not sliced", dim) + * else: + */ + /*else*/ { + + /* "View.MemoryView":886 + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + * "must be indexed and not sliced", dim) # <<<<<<<<<<<<<< + * else: + * suboffset_dim[0] = new_ndim + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 885, __pyx_L1_error) + } + __pyx_L22:; + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + goto __pyx_L21; + } + + /* "View.MemoryView":888 + * "must be indexed and not sliced", dim) + * else: + * suboffset_dim[0] = new_ndim # <<<<<<<<<<<<<< + * + * return 0 + */ + /*else*/ { + (__pyx_v_suboffset_dim[0]) = __pyx_v_new_ndim; + } + __pyx_L21:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + } + + /* "View.MemoryView":890 + * suboffset_dim[0] = new_ndim + * + * return 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.slice_memviewslice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":896 + * + * @cname('__pyx_pybuffer_index') + * cdef char *pybuffer_index(Py_buffer *view, char *bufp, Py_ssize_t index, # <<<<<<<<<<<<<< + * Py_ssize_t dim) except NULL: + * cdef Py_ssize_t shape, stride, suboffset = -1 + */ + +static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, Py_ssize_t __pyx_v_index, Py_ssize_t __pyx_v_dim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_suboffset; + Py_ssize_t __pyx_v_itemsize; 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(__pyx_t_1) { + + /* "View.MemoryView":1095 + * + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func # <<<<<<<<<<<<<< + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + */ + __pyx_t_2 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_object_func; + __pyx_v_to_object_func = __pyx_t_2; + + /* "View.MemoryView":1096 + * if isinstance(memview, _memoryviewslice): + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func # <<<<<<<<<<<<<< + * else: + * to_object_func = NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = 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<<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * 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"View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* 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__Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__(PyObject *__pyx_v_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +) { + CYTHON_UNUSED PyObject *__pyx_v___pyx_state = 0; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.classic_modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(((struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_no_default___reduce___due_to_non, 0, 0); + __PYX_ERR(0, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("selfdrive.classic_modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.SNPEModel", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""SNPEModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.classic_modeld.runners.snpemodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.snpemodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, 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+ ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); 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+ while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx b/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx new file mode 100644 index 000000000..e042b44af --- /dev/null +++ b/selfdrive/classic_modeld/runners/snpemodel_pyx.pyx @@ -0,0 +1,17 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +import os +from libcpp cimport bool +from libcpp.string cimport string + +from .snpemodel cimport SNPEModel as cppSNPEModel +from selfdrive.classic_modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.classic_modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.classic_modeld.runners.runmodel cimport RunModel as cppRunModel + +os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + +cdef class SNPEModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/classic_modeld/runners/snpemodel_pyx.so b/selfdrive/classic_modeld/runners/snpemodel_pyx.so new file mode 100644 index 000000000..cab4b7683 Binary files /dev/null and b/selfdrive/classic_modeld/runners/snpemodel_pyx.so differ diff --git a/selfdrive/classic_modeld/runners/thneedmodel.pxd b/selfdrive/classic_modeld/runners/thneedmodel.pxd new file mode 100644 index 000000000..97bc12685 --- /dev/null +++ b/selfdrive/classic_modeld/runners/thneedmodel.pxd @@ -0,0 +1,9 @@ +# distutils: language = c++ + +from libcpp.string cimport string + +from msgq.visionipc.visionipc cimport cl_context + +cdef extern from "selfdrive/classic_modeld/runners/thneedmodel.h": + cdef cppclass ThneedModel: + ThneedModel(string, float*, size_t, int, bool, cl_context) diff --git a/selfdrive/classic_modeld/runners/thneedmodel_pyx.cpp b/selfdrive/classic_modeld/runners/thneedmodel_pyx.cpp new file mode 100644 index 000000000..dc7e4fe0e --- /dev/null +++ b/selfdrive/classic_modeld/runners/thneedmodel_pyx.cpp @@ -0,0 +1,27767 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/classic_modeld/runners/runmodel.h", + "selfdrive/classic_modeld/runners/thneedmodel.h" + ], + "language": "c++", + "name": "selfdrive.classic_modeld.runners.thneedmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.classic_modeld.runners.thneedmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__classic_modeld__runners__thneedmodel_pyx +#define __PYX_HAVE_API__selfdrive__classic_modeld__runners__thneedmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/classic_modeld/runners/thneedmodel.h" +#include "selfdrive/classic_modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/classic_modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/classic_modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/classic_modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx":12 + * from selfdrive.classic_modeld.runners.runmodel cimport RunModel as cppRunModel + * + * cdef class ThneedModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel { + struct __pyx_obj_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.thneedmodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.classic_modeld.runners.thneedmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.classic_modeld.runners.thneedmodel_pyx" +extern int __pyx_module_is_main_selfdrive__classic_modeld__runners__thneedmodel_pyx; +int __pyx_module_is_main_selfdrive__classic_modeld__runners__thneedmodel_pyx = 0; + +/* Implementation of "selfdrive.classic_modeld.runners.thneedmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_ThneedModel[] = "ThneedModel"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_ThneedModel___reduce_cython[] = "ThneedModel.__reduce_cython__"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ThneedModel___setstate_cython[] = "ThneedModel.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_classic_modeld_runners[] = "selfdrive.classic_modeld.runners.thneedmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel___cinit__(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_ThneedModel; + PyObject *__pyx_n_s_ThneedModel___reduce_cython; + PyObject *__pyx_n_s_ThneedModel___setstate_cython; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_classic_modeld_runners; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_classic_modeld_runners); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_ptype_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_ThneedModel __pyx_mstate_global->__pyx_n_s_ThneedModel +#define __pyx_n_s_ThneedModel___reduce_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___reduce_cython +#define __pyx_n_s_ThneedModel___setstate_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___setstate_cython +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_classic_modeld_runners __pyx_mstate_global->__pyx_n_s_selfdrive_classic_modeld_runners +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + 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have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if 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access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, 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<<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice __pyx_v_src, __Pyx_memviewslice __pyx_v_dst, int __pyx_v_src_ndim, int __pyx_v_dst_ndim, int __pyx_v_dtype_is_object) { + void *__pyx_v_tmpdata; + size_t __pyx_v_itemsize; + int __pyx_v_i; + char __pyx_v_order; + int __pyx_v_broadcasting; + int __pyx_v_direct_copy; + __Pyx_memviewslice __pyx_v_tmp; + int __pyx_v_ndim; + int __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + void *__pyx_t_7; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1273 + * Check for overlapping memory and verify the shapes. + * """ + * cdef void *tmpdata = NULL # <<<<<<<<<<<<<< + * cdef size_t itemsize = src.memview.view.itemsize + * cdef int i + */ + __pyx_v_tmpdata = NULL; + + /* "View.MemoryView":1274 + * """ + * cdef void *tmpdata = NULL + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) + */ + __pyx_t_1 = __pyx_v_src.memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1276 + * cdef size_t itemsize = src.memview.view.itemsize + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) # <<<<<<<<<<<<<< + * cdef bint broadcasting = False + * cdef bint direct_copy = False + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_src), __pyx_v_src_ndim); + + /* "View.MemoryView":1277 + * cdef int i + * cdef char order = get_best_order(&src, src_ndim) + * cdef bint broadcasting = False # <<<<<<<<<<<<<< + * cdef bint direct_copy = False + * cdef __Pyx_memviewslice tmp + */ + __pyx_v_broadcasting = 0; + + /* "View.MemoryView":1278 + * cdef char order = get_best_order(&src, src_ndim) + * cdef bint broadcasting = False + * cdef bint direct_copy = False # <<<<<<<<<<<<<< + * cdef __Pyx_memviewslice tmp + * + */ + __pyx_v_direct_copy = 0; + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + __pyx_t_2 = (__pyx_v_src_ndim < __pyx_v_dst_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1282 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = (__pyx_v_dst_ndim < __pyx_v_src_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1284 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1286 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + __pyx_t_2 = (__pyx_t_3 > __pyx_t_4); + if (__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* "View.MemoryView":1410 + * for i in range(extent): + * memcpy(data, item, itemsize) + * data += stride # <<<<<<<<<<<<<< + * else: + * for i in range(extent): + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1412 + * data += stride + * else: + * for i in range(extent): # <<<<<<<<<<<<<< + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride + */ + /*else*/ { + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1413 + * else: + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) # <<<<<<<<<<<<<< + * data += stride + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1414 + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + + /* function exit code */ +} + +/* "(tree fragment)":1 + * def __pyx_unpickle_Enum(__pyx_type, long __pyx_checksum, __pyx_state): # <<<<<<<<<<<<<< + * cdef object __pyx_PickleError + * cdef object __pyx_result + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *__pyx_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +); /*proto*/ +static PyMethodDef __pyx_mdef_15View_dot_MemoryView_1__pyx_unpickle_Enum = {"__pyx_unpickle_Enum", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_15View_dot_MemoryView_1__pyx_unpickle_Enum(PyObject *__pyx_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +) { + PyObject *__pyx_v___pyx_type = 0; + long __pyx_v___pyx_checksum; + PyObject *__pyx_v___pyx_state = 0; + #if 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__pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.classic_modeld.runners.thneedmodel_pyx.ThneedModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(((struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + 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__Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_9selfdrive_14classic_modeld_7runners_12runmodel_pyx_RunModel, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_11ThneedModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel_spec = { + "selfdrive.classic_modeld.runners.thneedmodel_pyx.ThneedModel", + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.thneedmodel_pyx.""ThneedModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_14classic_modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + 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PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + 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CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.classic_modeld.runners.thneedmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.thneedmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.classic_modeld.runners.thneedmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.classic_modeld.runners.thneedmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void 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__pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx b/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx new file mode 100644 index 000000000..c044bfc2e --- /dev/null +++ b/selfdrive/classic_modeld/runners/thneedmodel_pyx.pyx @@ -0,0 +1,14 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii + +from libcpp cimport bool +from libcpp.string cimport string + +from .thneedmodel cimport ThneedModel as cppThneedModel +from selfdrive.classic_modeld.models.commonmodel_pyx cimport CLContext +from selfdrive.classic_modeld.runners.runmodel_pyx cimport RunModel +from selfdrive.classic_modeld.runners.runmodel cimport RunModel as cppRunModel + +cdef class ThneedModel(RunModel): + def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) diff --git a/selfdrive/classic_modeld/runners/thneedmodel_pyx.so b/selfdrive/classic_modeld/runners/thneedmodel_pyx.so new file mode 100644 index 000000000..2188117a4 Binary files /dev/null and b/selfdrive/classic_modeld/runners/thneedmodel_pyx.so differ diff --git a/selfdrive/classic_modeld/thneed/__init__.py b/selfdrive/classic_modeld/thneed/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/classic_modeld/transforms/loadyuv.cl b/selfdrive/classic_modeld/transforms/loadyuv.cl new file mode 100644 index 000000000..7dd3d973a --- /dev/null +++ b/selfdrive/classic_modeld/transforms/loadyuv.cl @@ -0,0 +1,47 @@ +#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) + +__kernel void loadys(__global uchar8 const * const Y, + __global float * out, + int out_offset) +{ + const int gid = get_global_id(0); + const int ois = gid * 8; + const int oy = ois / TRANSFORMED_WIDTH; + const int ox = ois % TRANSFORMED_WIDTH; + + const uchar8 ys = Y[gid]; + const float8 ysf = convert_float8(ys); + + // 02 + // 13 + + __global float* outy0; + __global float* outy1; + if ((oy & 1) == 0) { + outy0 = out + out_offset; //y0 + outy1 = out + out_offset + UV_SIZE*2; //y2 + } else { + outy0 = out + out_offset + UV_SIZE; //y1 + outy1 = out + out_offset + UV_SIZE*3; //y3 + } + + vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); +} + +__kernel void loaduv(__global uchar8 const * const in, + __global float8 * out, + int out_offset) +{ + const int gid = get_global_id(0); + const uchar8 inv = in[gid]; + const float8 outv = convert_float8(inv); + out[gid + out_offset / 8] = outv; +} + +__kernel void copy(__global float8 * inout, + int in_offset) +{ + const int gid = get_global_id(0); + inout[gid] = inout[gid + in_offset / 8]; +} diff --git a/selfdrive/classic_modeld/transforms/transform.cc b/selfdrive/classic_modeld/transforms/transform.cc new file mode 100644 index 000000000..8d1a18fc2 --- /dev/null +++ b/selfdrive/classic_modeld/transforms/transform.cc @@ -0,0 +1,97 @@ +#include "selfdrive/classic_modeld/transforms/transform.h" + +#include +#include + +#include "common/clutil.h" + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { + memset(s, 0, sizeof(*s)); + + cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); + s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err)); + // done with this + CL_CHECK(clReleaseProgram(prg)); + + s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); + s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); +} + +void transform_destroy(Transform* s) { + CL_CHECK(clReleaseMemObject(s->m_y_cl)); + CL_CHECK(clReleaseMemObject(s->m_uv_cl)); + CL_CHECK(clReleaseKernel(s->krnl)); +} + +void transform_queue(Transform* s, + cl_command_queue q, + cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection) { + const int zero = 0; + + // sampled using pixel center origin + // (because that's how fastcv and opencv does it) + + mat3 projection_y = projection; + + // in and out uv is half the size of y. + mat3 projection_uv = transform_scale_buffer(projection, 0.5); + + CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); + CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); + + const int in_y_width = in_width; + const int in_y_height = in_height; + const int in_y_px_stride = 1; + const int in_uv_width = in_width/2; + const int in_uv_height = in_height/2; + const int in_uv_px_stride = 2; + const int in_u_offset = in_uv_offset; + const int in_v_offset = in_uv_offset + 1; + + const int out_y_width = out_width; + const int out_y_height = out_height; + const int out_uv_width = out_width/2; + const int out_uv_height = out_height/2; + + CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src + CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M + + const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_y, NULL, 0, 0, NULL)); + + const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; + + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); +} diff --git a/selfdrive/classic_modeld/transforms/transform.cl b/selfdrive/classic_modeld/transforms/transform.cl new file mode 100644 index 000000000..2ca25920c --- /dev/null +++ b/selfdrive/classic_modeld/transforms/transform.cl @@ -0,0 +1,54 @@ +#define INTER_BITS 5 +#define INTER_TAB_SIZE (1 << INTER_BITS) +#define INTER_SCALE 1.f / INTER_TAB_SIZE + +#define INTER_REMAP_COEF_BITS 15 +#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) + +__kernel void warpPerspective(__global const uchar * src, + int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, + __global uchar * dst, + int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, + __constant float * M) +{ + int dx = get_global_id(0); + int dy = get_global_id(1); + + if (dx < dst_cols && dy < dst_rows) + { + float X0 = M[0] * dx + M[1] * dy + M[2]; + float Y0 = M[3] * dx + M[4] * dy + M[5]; + float W = M[6] * dx + M[7] * dy + M[8]; + W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; + int X = rint(X0 * W), Y = rint(Y0 * W); + + int sx = convert_short_sat(X >> INTER_BITS); + int sy = convert_short_sat(Y >> INTER_BITS); + + short sx_clamp = clamp(sx, 0, src_cols - 1); + short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); + short sy_clamp = clamp(sy, 0, src_rows - 1); + short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); + int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + + short ay = (short)(Y & (INTER_TAB_SIZE - 1)); + short ax = (short)(X & (INTER_TAB_SIZE - 1)); + float taby = 1.f/INTER_TAB_SIZE*ay; + float tabx = 1.f/INTER_TAB_SIZE*ax; + + int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); + + int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); + int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); + + int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; + + uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); + dst[dst_index] = pix; + } +} diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py old mode 100755 new mode 100644 index 678889abb..562856083 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -7,7 +7,7 @@ from typing import SupportsFloat import cereal.messaging as messaging -from cereal import car, log +from cereal import car, custom, log from msgq.visionipc import VisionIpcClient, VisionStreamType @@ -15,7 +15,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.git import get_short_branch from openpilot.common.numpy_fast import clip from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL, DT_MDL from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event @@ -31,6 +31,9 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel from openpilot.system.hardware import HARDWARE +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel +from openpilot.selfdrive.frogpilot.frogpilot_variables import NON_DRIVING_GEARS, get_frogpilot_toggles, params_memory + SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS LANE_DEPARTURE_THRESHOLD = 0.1 @@ -49,6 +52,7 @@ LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection EventName = car.CarEvent.EventName ButtonType = car.CarState.ButtonEvent.Type +FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) @@ -78,7 +82,7 @@ class Controls: self.branch = get_short_branch() # Setup sockets - self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents']) + self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents', 'frogpilotCarControl']) self.sensor_packets = ["accelerometer", "gyroscope"] self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] @@ -94,10 +98,12 @@ class Controls: if REPLAY: # no vipc in replay will make them ignored anyways ignore += ['roadCameraState', 'wideRoadCameraState'] + if get_frogpilot_toggles().radarless_model: + ignore += ['radarState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'testJoystick'] + self.camera_packets + self.sensor_packets, + 'testJoystick', 'frogpilotCarState', 'frogpilotPlan'] + self.camera_packets + self.sensor_packets, ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ], frequency=int(1/DT_CTRL)) @@ -157,7 +163,10 @@ class Controls: self.can_log_mono_time = 0 - self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0) + if car_recognized and not self.CP.passive and self.CP.secOcRequired and not self.CP.secOcKeyAvailable: + self.startup_event = EventName.startupNoSecOcKey + else: + self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0) if not sounds_available: self.events.add(EventName.soundsUnavailable, static=True) @@ -173,6 +182,24 @@ class Controls: # controlsd is driven by carState, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) + # FrogPilot variables + self.frogpilot_toggles = get_frogpilot_toggles() + + self.accel_pressed = False + self.always_on_lateral_active = False + self.always_on_lateral_active_previously = False + self.decel_pressed = False + self.fcw_event_triggered = False + self.no_entry_alert_triggered = False + self.onroad_distance_pressed = False + self.steer_saturated_event_triggered = False + + self.planner_curves = self.frogpilot_toggles.planner_curvature_model + self.radarless_model = self.frogpilot_toggles.radarless_model + self.use_old_long = self.frogpilot_toggles.old_long_api + + self.display_timer = 0 + def set_initial_state(self): if REPLAY: controls_state = self.params.get("ReplayControlsState") @@ -260,12 +287,21 @@ class Controls: direction = self.sm['modelV2'].meta.laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): - self.events.add(EventName.laneChangeBlocked) + if self.frogpilot_toggles.loud_blindspot_alert: + self.events.add(EventName.laneChangeBlockedLoud) + else: + self.events.add(EventName.laneChangeBlocked) else: if direction == LaneChangeDirection.left: - self.events.add(EventName.preLaneChangeLeft) + if self.sm['frogpilotPlan'].laneWidthLeft >= self.frogpilot_toggles.lane_detection_width: + self.events.add(EventName.preLaneChangeLeft) + else: + self.events.add(EventName.noLaneAvailable) else: - self.events.add(EventName.preLaneChangeRight) + if self.sm['frogpilotPlan'].laneWidthRight >= self.frogpilot_toggles.lane_detection_width: + self.events.add(EventName.preLaneChangeRight) + else: + self.events.add(EventName.noLaneAvailable) elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) @@ -305,8 +341,9 @@ class Controls: self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): - self.events.add(EventName.radarFault) + if not self.radarless_model: + if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): + self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) if CS.canTimeout: @@ -363,6 +400,8 @@ class Controls: planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode): self.events.add(EventName.fcw) + if self.frogpilot_toggles.random_events: + self.fcw_event_triggered = True for m in messaging.drain_sock(self.log_sock, wait_for_one=False): try: @@ -387,6 +426,12 @@ class Controls: if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) + # Add FrogPilot events + self.events.add_from_msg(self.sm['frogpilotPlan'].frogpilotEvents) + + if self.frogpilot_toggles.block_user: + self.events.add(EventName.blockUser, static=True) + def data_sample(self): """Receive data from sockets""" @@ -436,7 +481,7 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.sm['frogpilotPlan'].speedLimitChanged, self.frogpilot_toggles) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -502,6 +547,8 @@ class Controls: if self.events.contains(ET.ENABLE): if self.events.contains(ET.NO_ENTRY): self.current_alert_types.append(ET.NO_ENTRY) + if self.frogpilot_toggles.random_events: + self.no_entry_alert_triggered = True else: if self.events.contains(ET.PRE_ENABLE): @@ -511,12 +558,12 @@ class Controls: else: self.state = State.enabled self.current_alert_types.append(ET.ENABLE) - self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode) + self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.sm['frogpilotPlan'].unconfirmedSlcSpeedLimit, self.frogpilot_toggles) # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES self.active = self.state in ACTIVE_STATES - if self.active: + if self.active or self.always_on_lateral_active: self.current_alert_types.append(ET.WARNING) def state_control(self, CS): @@ -531,7 +578,7 @@ class Controls: # Update Torque Params if self.CP.lateralTuning.which() == 'torque': torque_params = self.sm['liveTorqueParameters'] - if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams: + if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune): self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) @@ -543,8 +590,8 @@ class Controls: # Check which actuators can be enabled standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill - CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ - (not standstill or self.joystick_mode) + CC.latActive = (self.active or self.always_on_lateral_active) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ + (not standstill or self.joystick_mode) and self.sm['frogpilotPlan'].lateralCheck CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl actuators = CC.actuators @@ -563,22 +610,33 @@ class Controls: if not CC.latActive: self.LaC.reset() if not CC.longActive: - self.LoC.reset() + if self.use_old_long: + self.LoC.reset_old_long(v_pid=CS.vEgo) + else: + self.LoC.reset() if not self.joystick_mode: # accel PID loop pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) - actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits) + if self.frogpilot_toggles.sport_plus: + pid_accel_limits = (pid_accel_limits[0], get_max_allowed_accel(CS.vEgo)) + + if self.use_old_long: + t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL + actuators.accel = self.LoC.update_old_long(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan, self.frogpilot_toggles) + else: + actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop or self.sm['frogpilotPlan'].forcingStopLength < 1, pid_accel_limits, self.frogpilot_toggles) if len(long_plan.speeds): actuators.speed = long_plan.speeds[-1] # Steering PID loop and lateral MPC - self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature) + self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature, self.planner_curves) actuators.curvature = self.desired_curvature actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.steer_limited, self.desired_curvature, - self.sm['liveLocationKalman']) + self.sm['liveLocationKalman'], + model_data=self.sm['modelV2'], frogpilot_toggles=self.frogpilot_toggles) else: lac_log = log.ControlsState.LateralDebugState.new_message() if self.sm.recv_frame['testJoystick'] > 0: @@ -614,7 +672,11 @@ class Controls: good_speed = CS.vEgo > 5 max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99 if undershooting and turning and good_speed and max_torque: - lac_log.active and self.events.add(EventName.steerSaturated) + lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream_alert else EventName.steerSaturated) + if self.frogpilot_toggles.random_events: + self.steer_saturated_event_triggered = True + else: + self.steer_saturated_event_triggered = False elif lac_log.saturated: # TODO probably should not use dpath_points but curvature dpath_points = model_v2.position.y @@ -644,13 +706,64 @@ class Controls: # decrement personality on distance button press if self.CP.openpilotLongitudinalControl: - if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents): - self.personality = (self.personality - 1) % 3 - self.params.put_nonblocking('LongitudinalPersonality', str(self.personality)) + if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) or self.onroad_distance_pressed: + menu_open = self.display_timer > 0 or not self.sm['frogpilotCarState'].hasMenu + if not (self.sm['frogpilotCarState'].distanceLongPressed or params_memory.get_bool("OnroadDistanceButtonPressed")) and menu_open: + self.personality = (self.personality - 1) % 3 + self.params.put_nonblocking('LongitudinalPersonality', str(self.personality)) + self.display_timer = 350 + self.onroad_distance_pressed = params_memory.get_bool("OnroadDistanceButtonPressed") - return CC, lac_log + self.display_timer -= 1 - def publish_logs(self, CS, start_time, CC, lac_log): + FPCC = self.update_frogpilot_variables(CS) + + return CC, lac_log, FPCC + + def update_frogpilot_variables(self, CS): + self.always_on_lateral_active |= self.frogpilot_toggles.always_on_lateral_main or CS.cruiseState.enabled + self.always_on_lateral_active &= self.frogpilot_toggles.always_on_lateral_set and CS.cruiseState.available + self.always_on_lateral_active &= CS.gearShifter not in NON_DRIVING_GEARS + self.always_on_lateral_active &= self.sm['frogpilotPlan'].lateralCheck + self.always_on_lateral_active &= self.sm['liveCalibration'].calPerc >= 1 + self.always_on_lateral_active &= not (self.frogpilot_toggles.always_on_lateral_lkas and self.sm['frogpilotCarState'].alwaysOnLateralDisabled) + self.always_on_lateral_active &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill + self.always_on_lateral_active = bool(self.always_on_lateral_active) + + if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental_mode: + self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode + + if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): + if self.frogpilot_toggles.experimental_mode_via_lkas and self.enabled: + if self.frogpilot_toggles.conditional_experimental_mode: + conditional_status = params_memory.get_int("CEStatus") + override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4 + params_memory.put_int("CEStatus", override_value) + else: + self.experimental_mode = not self.experimental_mode + self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode) + + if self.sm.updated['frogpilotPlan'] or any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents): + self.accel_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + + if self.sm.updated['frogpilotPlan'] or any(be.type == ButtonType.decelCruise for be in CS.buttonEvents): + self.decel_pressed = any(be.type == ButtonType.decelCruise for be in CS.buttonEvents) + + FPCC = custom.FrogPilotCarControl.new_message() + FPCC.alwaysOnLateralActive = self.always_on_lateral_active + FPCC.accelPressed = self.accel_pressed + FPCC.decelPressed = self.decel_pressed + FPCC.fcwEventTriggered = self.fcw_event_triggered + FPCC.noEntryEventTriggered = self.no_entry_alert_triggered + FPCC.steerSaturatedEventTriggered = self.steer_saturated_event_triggered + + # Update FrogPilot parameters + if self.sm['frogpilotPlan'].togglesUpdated: + self.frogpilot_toggles = get_frogpilot_toggles() + + return FPCC + + def publish_logs(self, CS, start_time, CC, lac_log, FPCC): """Send actuators and hud commands to the car, send controlsstate and MPC logging""" # Orientation and angle rates can be useful for carcontroller @@ -709,7 +822,7 @@ class Controls: if self.enabled: clear_event_types.add(ET.NO_ENTRY) - alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer]) + alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer, self.frogpilot_toggles]) self.AM.add_many(self.sm.frame, alerts) current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types) if current_alert: @@ -754,6 +867,7 @@ class Controls: controlsState.state = self.state controlsState.engageable = not self.events.contains(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state + controlsState.vPid = float(self.LoC.v_pid) controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) controlsState.upAccelCmd = float(self.LoC.pid.p) @@ -791,6 +905,12 @@ class Controls: cc_send.carControl = CC self.pm.send('carControl', cc_send) + # frogpilotCarControl + fpcc_send = messaging.new_message('frogpilotCarControl') + fpcc_send.valid = CS.canValid + fpcc_send.frogpilotCarControl = FPCC + self.pm.send('frogpilotCarControl', fpcc_send) + def step(self): start_time = time.monotonic() @@ -806,10 +926,10 @@ class Controls: self.state_transition(CS) # Compute actuators (runs PID loops and lateral MPC) - CC, lac_log = self.state_control(CS) + CC, lac_log, FPCC = self.state_control(CS) # Publish data - self.publish_logs(CS, start_time, CC, lac_log) + self.publish_logs(CS, start_time, CC, lac_log, FPCC) self.CS_prev = CS diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 90b685864..0a669e85e 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -4,6 +4,7 @@ from openpilot.common.realtime import DT_MDL LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection +TurnDirection = log.Desire LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. @@ -29,6 +30,11 @@ DESIRES = { }, } +TURN_DESIRES = { + TurnDirection.none: log.Desire.none, + TurnDirection.turnLeft: log.Desire.turnLeft, + TurnDirection.turnRight: log.Desire.turnRight, +} class DesireHelper: def __init__(self): @@ -40,22 +46,45 @@ class DesireHelper: self.prev_one_blinker = False self.desire = log.Desire.none - def update(self, carstate, lateral_active, lane_change_prob): + # FrogPilot variables + self.lane_change_completed = False + + self.lane_change_wait_timer = 0 + + self.turn_direction = TurnDirection.none + + def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles): v_ego = carstate.vEgo one_blinker = carstate.leftBlinker != carstate.rightBlinker - below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN + below_lane_change_speed = v_ego < frogpilot_toggles.minimum_lane_change_speed + + if not (frogpilot_toggles.lane_detection and one_blinker) or below_lane_change_speed: + lane_available = True + else: + desired_lane = frogpilotPlan.laneWidthLeft if carstate.leftBlinker else frogpilotPlan.laneWidthRight + lane_available = desired_lane >= frogpilot_toggles.lane_detection_width if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none + self.turn_direction = TurnDirection.none + elif one_blinker and below_lane_change_speed and not carstate.standstill and frogpilot_toggles.use_turn_desires: + self.lane_change_state = LaneChangeState.off + self.lane_change_direction = LaneChangeDirection.none + self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight else: + self.turn_direction = TurnDirection.none + # LaneChangeState.off if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed: self.lane_change_state = LaneChangeState.preLaneChange self.lane_change_ll_prob = 1.0 + self.lane_change_wait_timer = 0.0 # LaneChangeState.preLaneChange elif self.lane_change_state == LaneChangeState.preLaneChange: + self.lane_change_wait_timer += DT_MDL + # Set lane change direction self.lane_change_direction = LaneChangeDirection.left if \ carstate.leftBlinker else LaneChangeDirection.right @@ -64,14 +93,21 @@ class DesireHelper: ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right)) + if torque_applied: + self.lane_change_wait_timer = frogpilot_toggles.lane_change_delay + + torque_applied |= frogpilot_toggles.nudgeless + blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right)) - if not one_blinker or below_lane_change_speed: + if not one_blinker or below_lane_change_speed or self.lane_change_completed: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none - elif torque_applied and not blindspot_detected: + elif torque_applied and not blindspot_detected and lane_available and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay: self.lane_change_state = LaneChangeState.laneChangeStarting + self.lane_change_completed = frogpilot_toggles.one_lane_change + self.lane_change_wait_timer = 0.0 # LaneChangeState.laneChangeStarting elif self.lane_change_state == LaneChangeState.laneChangeStarting: @@ -99,9 +135,13 @@ class DesireHelper: else: self.lane_change_timer += DT_MDL + self.lane_change_completed &= one_blinker self.prev_one_blinker = one_blinker - self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] + if self.turn_direction != TurnDirection.none: + self.desire = TURN_DESIRES[self.turn_direction] + else: + self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] # Send keep pulse once per second during LaneChangeStart.preLaneChange if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting): diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index cfc6374a1..396cee52c 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -13,11 +13,13 @@ V_CRUISE_MAX = 145 V_CRUISE_UNSET = 255 V_CRUISE_INITIAL = 40 V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 -IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors +IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1) # round here to avoid rounding errors incrementing set speed MIN_SPEED = 1.0 CONTROL_N = 17 CAR_ROTATION_RADIUS = 0.0 +# This is a turn radius smaller than most cars can achieve +MAX_CURVATURE = 0.2 # EU guidelines MAX_LATERAL_JERK = 5.0 @@ -49,23 +51,26 @@ class VCruiseHelper: def v_cruise_initialized(self): return self.v_cruise_kph != V_CRUISE_UNSET - def update_v_cruise(self, CS, enabled, is_metric): + def update_v_cruise(self, CS, enabled, is_metric, speed_limit_changed, frogpilot_toggles): self.v_cruise_kph_last = self.v_cruise_kph if CS.cruiseState.available: if not self.CP.pcmCruise: # if stock cruise is completely disabled, then we can use our own set speed logic - self._update_v_cruise_non_pcm(CS, enabled, is_metric) + self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, frogpilot_toggles) self.v_cruise_cluster_kph = self.v_cruise_kph self.update_button_timers(CS, enabled) else: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + if CS.cruiseState.speed == 0: + self.v_cruise_kph = V_CRUISE_UNSET + self.v_cruise_cluster_kph = V_CRUISE_UNSET else: self.v_cruise_kph = V_CRUISE_UNSET self.v_cruise_cluster_kph = V_CRUISE_UNSET - def _update_v_cruise_non_pcm(self, CS, enabled, is_metric): + def _update_v_cruise_non_pcm(self, CS, enabled, is_metric, speed_limit_changed, frogpilot_toggles): # handle button presses. TODO: this should be in state_control, but a decelCruise press # would have the effect of both enabling and changing speed is checked after the state transition if not enabled: @@ -92,6 +97,10 @@ class VCruiseHelper: if button_type is None: return + # Don't adjust speed when pressing to confirm/deny speed limits + if speed_limit_changed: + return + # Don't adjust speed when pressing resume to exit standstill cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill if button_type == ButtonType.accelCruise and cruise_standstill: @@ -101,12 +110,18 @@ class VCruiseHelper: if not self.button_change_states[button_type]["enabled"]: return - v_cruise_delta = v_cruise_delta * (5 if long_press else 1) - if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval + v_cruise_delta_interval = frogpilot_toggles.custom_cruise_increase_long if long_press else frogpilot_toggles.custom_cruise_increase + v_cruise_delta = v_cruise_delta * v_cruise_delta_interval + if v_cruise_delta_interval % 5 == 0 and self.v_cruise_kph % v_cruise_delta != 0: # partial interval self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta else: self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + v_cruise_offset = (frogpilot_toggles.set_speed_offset * CRUISE_INTERVAL_SIGN[button_type]) if long_press else 0 + if v_cruise_offset < 0: + v_cruise_offset = frogpilot_toggles.set_speed_offset - v_cruise_delta + self.v_cruise_kph += v_cruise_offset + # If set is pressed while overriding, clip cruise speed to minimum of vEgo if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH) @@ -125,22 +140,35 @@ class VCruiseHelper: self.button_timers[b.type.raw] = 1 if b.pressed else 0 self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled} - def initialize_v_cruise(self, CS, experimental_mode: bool) -> None: + def initialize_v_cruise(self, CS, experimental_mode: bool, desired_speed_limit, frogpilot_toggles) -> None: # initializing is handled by the PCM if self.CP.pcmCruise: return - initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL + initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL # 250kph or above probably means we never had a set speed if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: self.v_cruise_kph = self.v_cruise_kph_last else: - self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) + if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit: + self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH)) + else: + self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) self.v_cruise_cluster_kph = self.v_cruise_kph +def apply_deadzone(error, deadzone): + if error > deadzone: + error -= deadzone + elif error < - deadzone: + error += deadzone + else: + error = 0. + return error + + def apply_center_deadzone(error, deadzone): if (error > - deadzone) and (error < deadzone): error = 0. @@ -151,7 +179,9 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def clip_curvature(v_ego, prev_curvature, new_curvature): +def clip_curvature(v_ego, prev_curvature, new_curvature, planner_curves): + if planner_curves: + new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE) v_ego = max(MIN_SPEED, v_ego) max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 safe_desired_curvature = clip(new_curvature, diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 4d57bc6f6..7a5dd36f8 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -4,6 +4,7 @@ import math import os from enum import IntEnum from collections.abc import Callable +from types import SimpleNamespace from cereal import log, car import cereal.messaging as messaging @@ -12,6 +13,8 @@ from openpilot.common.git import get_short_branch from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from openpilot.selfdrive.frogpilot.frogpilot_variables import params + AlertSize = log.ControlsState.AlertSize AlertStatus = log.ControlsState.AlertStatus VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -211,31 +214,31 @@ AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, def soft_disable_alert(alert_text_2: str) -> AlertCallbackType: - def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: if soft_disable_time < int(0.5 / DT_CTRL): return ImmediateDisableAlert(alert_text_2) return SoftDisableAlert(alert_text_2) return func def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: - def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: if soft_disable_time < int(0.5 / DT_CTRL): return ImmediateDisableAlert(alert_text_2) return UserSoftDisableAlert(alert_text_2) return func -def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: branch = get_short_branch() # Ensure get_short_branch is cached to avoid lags on startup if "REPLAY" in os.environ: branch = "replay" return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt) -def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage") -def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: return Alert( f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", "", @@ -243,7 +246,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) -def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration' return Alert( f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%", @@ -254,37 +257,37 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag # *** debug alerts *** -def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: full_perc = round(100. - sm['deviceState'].freeSpacePercent) return NormalPermanentAlert("Out of Storage", f"{full_perc}% full") -def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan err = CS.vEgo - mdl msg = f"Speed Error: {err:.1f} m/s" return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid") -def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning] msg = ', '.join(not_running) return NoEntryAlert(msg, alert_text_1="Process Not Running") -def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])] msg = ', '.join(bs[:4]) # can't fit too many on one line return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes") -def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])] return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams)) -def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: rpy = sm['liveCalibration'].rpyCalib yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan) pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan) @@ -292,40 +295,104 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging return NormalPermanentAlert("Calibration Invalid", angles) -def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: cpu = max(sm['deviceState'].cpuTempC, default=0.) gpu = max(sm['deviceState'].gpuTempC, default=0.) temp = max((cpu, gpu, sm['deviceState'].memoryTempC)) return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C") -def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used") -def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: x = max(sm['deviceState'].cpuUsagePercent, default=0.) return NormalPermanentAlert("High CPU Usage", f"{x}% used") -def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped") -def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: text = "Enable Adaptive Cruise to Engage" if CP.carName == "honda": text = "Enable Main Switch to Engage" return NoEntryAlert(text) -def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: +def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: axes = sm['testJoystick'].axes gb, steer = list(axes)[:2] if len(axes) else (0., 0.) vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%" return NormalPermanentAlert("Joystick Mode", vals) +# FrogPilot Alerts +def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: + return StartupAlert(frogpilot_toggles.startup_alert_top, frogpilot_toggles.startup_alert_bottom, alert_status=AlertStatus.frogpilot) + + +def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: + model_length = sm['frogpilotPlan'].forcingStopLength + model_length_msg = f"{model_length:.1f} meters" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} feet" + + return Alert( + f"Forcing the car to stop in {model_length_msg}", + "Press the gas pedal or 'Resume' button to override", + AlertStatus.frogpilot, AlertSize.mid, + Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.) + + +def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: + holiday_messages = { + "new_years": "Happy New Year! 🎉", + "valentines": "Happy Valentine's Day! ❤️", + "st_patricks": "Happy St. Patrick's Day! 🍀", + "world_frog_day": "Happy World Frog Day! 🐸", + "april_fools": "Happy April Fool's Day! 🤡", + "easter_week": "Happy Easter! 🐰", + "cinco_de_mayo": "¡Feliz Cinco de Mayo! 🌮", + "fourth_of_july": "Happy Fourth of July! 🎆", + "halloween_week": "Happy Halloween! 🎃", + "thanksgiving_week": "Happy Thanksgiving! 🦃", + "christmas_week": "Merry Christmas! 🎄", + } + + return Alert( + holiday_messages.get(frogpilot_toggles.current_holiday_theme), + "", + AlertStatus.normal, AlertSize.small, + Priority.LOWEST, VisualAlert.none, AudibleAlert.startup, 5.) + + +def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: + lane_width = sm['frogpilotPlan'].laneWidthLeft if CS.leftBlinker else sm['frogpilotPlan'].laneWidthRight + lane_width_msg = f"{lane_width:.1f} meters" if metric else f"{lane_width * CV.METER_TO_FOOT:.1f} feet" + + return Alert( + "No lane available", + f"Detected lane width is only {lane_width_msg}", + AlertStatus.normal, AlertSize.mid, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2) + + +def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert: + model_name = params.get("NNFFModelName", encoding='utf-8') + if model_name is None: + return Alert( + "NNFF Torque Controller not available", + "Donate logs to Twilsonco to get your car supported!", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 10.0) + else: + return Alert( + "NNFF Torque Controller loaded", + model_name, + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0) + EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { # ********** events with no alerts ********** @@ -369,6 +436,12 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { alert_status=AlertStatus.userPrompt), }, + EventName.startupNoSecOcKey: { + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + "Security Key Not Available", + priority=Priority.HIGH), + }, + EventName.dashcamMode: { ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", priority=Priority.LOWEST), @@ -952,6 +1025,71 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"), }, + # FrogPilot Events + EventName.blockUser: { + ET.PERMANENT: Alert( + "Don't use the 'Development' branch!", + "Forcing you into 'Dashcam Mode' for your safety", + AlertStatus.userPrompt, AlertSize.mid, + Priority.HIGHEST, VisualAlert.none, AudibleAlert.none, 1.), + }, + + EventName.customStartupAlert: { + ET.PERMANENT: custom_startup_alert, + }, + + EventName.forcingStop: { + ET.WARNING: forcing_stop_alert, + }, + + EventName.goatSteerSaturated: { + ET.WARNING: Alert( + "Turn exceeds steering limit", + "JESUS TAKE THE WHEEL!!", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.goat, 2.), + }, + + EventName.greenLight: { + ET.PERMANENT: Alert( + "Light turned green", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.), + }, + + EventName.holidayActive: { + ET.PERMANENT: holiday_alert, + }, + + EventName.laneChangeBlockedLoud: { + ET.WARNING: Alert( + "Car detected in blindspot", + "", + AlertStatus.userPrompt, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.warningSoft, .1), + }, + + EventName.leadDeparting: { + ET.PERMANENT: Alert( + "Lead departed", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.), + }, + + EventName.noLaneAvailable: { + ET.PERMANENT: no_lane_available_alert, + }, + + EventName.openpilotCrashed: { + ET.PERMANENT: Alert( + "openpilot crashed", + "Please post the 'Error Log' in the FrogPilot Discord!", + AlertStatus.normal, AlertSize.mid, + Priority.HIGHEST, VisualAlert.none, AudibleAlert.prompt, 10.), + }, + EventName.pedalInterceptorNoBrake: { ET.WARNING: Alert( "Braking Unavailable", @@ -960,6 +1098,146 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.), }, + EventName.speedLimitChanged: { + ET.PERMANENT: Alert( + "Speed limit changed", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.), + }, + + EventName.thisIsFineSteerSaturated: { + ET.WARNING: Alert( + "This is fine", + "☕", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.thisIsFine, 2.), + }, + + EventName.torqueNNLoad: { + ET.PERMANENT: torque_nn_load_alert, + }, + + EventName.trafficModeActive: { + ET.PERMANENT: Alert( + "Traffic Mode enabled", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.), + }, + + EventName.trafficModeInactive: { + ET.PERMANENT: Alert( + "Traffic Mode Disabled", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.), + }, + + EventName.turningLeft: { + ET.WARNING: Alert( + "Turning left", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), + }, + + EventName.turningRight: { + ET.WARNING: Alert( + "Turning right", + "", + AlertStatus.normal, AlertSize.small, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, alert_rate=0.75), + }, + + # Random Events + EventName.accel30: { + ET.WARNING: Alert( + "UwU u went a bit fast there!", + "(⁄ ⁄•⁄ω⁄•⁄ ⁄)", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.uwu, 4.), + }, + + EventName.accel35: { + ET.WARNING: Alert( + "I ain't giving you no tree-fiddy", + "You damn Loch Ness Monsta!", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.nessie, 4.), + }, + + EventName.accel40: { + ET.WARNING: Alert( + "Great Scott!", + "🚗💨", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.doc, 4.), + }, + + EventName.dejaVuCurve: { + ET.WARNING: Alert( + "♬♪ Deja vu! ᕕ(⌐■_■)ᕗ ♪♬", + "🏎️", + AlertStatus.frogpilot, AlertSize.mid, + Priority.LOW, VisualAlert.none, AudibleAlert.dejaVu, 4.), + }, + + EventName.firefoxSteerSaturated: { + ET.WARNING: Alert( + "Turn Exceeds Steering Limit", + "IE Has Stopped Responding...", + AlertStatus.userPrompt, AlertSize.mid, + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.firefox, 4.), + }, + + EventName.hal9000: { + ET.WARNING: Alert( + "I'm sorry Dave", + "I'm afraid I can't do that...", + AlertStatus.normal, AlertSize.mid, + Priority.HIGH, VisualAlert.none, AudibleAlert.hal9000, 4.), + }, + + EventName.openpilotCrashedRandomEvent: { + ET.PERMANENT: Alert( + "openpilot crashed 💩", + "Please post the 'Error Log' in the FrogPilot Discord!", + AlertStatus.normal, AlertSize.mid, + Priority.HIGHEST, VisualAlert.none, AudibleAlert.fart, 10.), + }, + + EventName.toBeContinued: { + ET.PERMANENT: Alert( + "To be continued...", + "⬅️", + AlertStatus.frogpilot, AlertSize.mid, + Priority.MID, VisualAlert.none, AudibleAlert.continued, 7.), + }, + + EventName.vCruise69: { + ET.PERMANENT: Alert( + "Lol 69", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.noice, 2.), + }, + + EventName.yourFrogTriedToKillMe: { + ET.PERMANENT: Alert( + "Your Frog tried to kill me...", + "👺", + AlertStatus.frogpilot, AlertSize.mid, + Priority.MID, VisualAlert.none, AudibleAlert.angry, 5.), + }, + + EventName.youveGotMail: { + ET.PERMANENT: Alert( + "You've got mail! 📧", + "", + AlertStatus.frogpilot, AlertSize.small, + Priority.LOW, VisualAlert.none, AudibleAlert.mail, 3.), + }, } diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index fddb331cc..2229e4a8a 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -17,7 +17,7 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): pass def reset(self): diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 329c486eb..ce1fa4112 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -11,7 +11,7 @@ class LatControlAngle(LatControl): super().__init__(CP, CI) self.sat_check_min_speed = 5. - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): angle_log = log.ControlsState.LateralAngleState.new_message() if not active: diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 9e6160838..56035e979 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 34b0d4712..49425cc78 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -1,11 +1,17 @@ +from collections import deque + import math +import numpy as np from cereal import log +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp from openpilot.selfdrive.car.interfaces import LatControlInputs +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N from openpilot.selfdrive.controls.lib.latcontrol import LatControl from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.modeld.constants import ModelConstants # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to @@ -20,7 +26,42 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G LOW_SPEED_X = [0, 10, 20, 30] LOW_SPEED_Y = [15, 13, 10, 5] +LOW_SPEED_Y_NN = [12, 3, 1, 0] +LAT_PLAN_MIN_IDX = 5 + +def get_predicted_lateral_jerk(lat_accels, t_diffs): + # compute finite difference between subsequent model_data.acceleration.y values + # this is just two calls of np.diff followed by an element-wise division + lat_accel_diffs = np.diff(lat_accels) + lat_jerk = lat_accel_diffs / t_diffs + # return as python list + return lat_jerk.tolist() + +def sign(x): + return 1.0 if x > 0.0 else (-1.0 if x < 0.0 else 0.0) + +def get_lookahead_value(future_vals, current_val): + if len(future_vals) == 0: + return current_val + + same_sign_vals = [v for v in future_vals if sign(v) == sign(current_val)] + + # if any future val has opposite sign of current val, return 0 + if len(same_sign_vals) < len(future_vals): + return 0.0 + + # otherwise return the value with minimum absolute value + min_val = min(same_sign_vals + [current_val], key=lambda x: abs(x)) + return min_val + +# At a given roll, if pitch magnitude increases, the +# gravitational acceleration component starts pointing +# in the longitudinal direction, decreasing the lateral +# acceleration component. Here we do the same thing +# to the roll value itself, then passed to nnff. +def roll_pitch_adjust(roll, pitch): + return roll * math.cos(pitch) class LatControlTorque(LatControl): def __init__(self, CP, CI): @@ -32,22 +73,75 @@ class LatControlTorque(LatControl): self.use_steering_angle = self.torque_params.useSteeringAngle self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg + # Twilsonco's Lateral Neural Network Feedforward + self.use_nnff = CI.use_nnff + self.use_nnff_lite = CI.use_nnff_lite + + if self.use_nnff or self.use_nnff_lite: + # Instantaneous lateral jerk changes very rapidly, making it not useful on its own, + # however, we can "look ahead" to the future planned lateral jerk in order to guage + # whether the current desired lateral jerk will persist into the future, i.e. + # whether it's "deliberate" or not. This lets us simply ignore short-lived jerk. + # Note that LAT_PLAN_MIN_IDX is defined above and is used in order to prevent + # using a "future" value that is actually planned to occur before the "current" desired + # value, which is offset by the steerActuatorDelay. + self.friction_look_ahead_v = [1.4, 2.0] # how many seconds in the future to look ahead in [0, ~2.1] in 0.1 increments + self.friction_look_ahead_bp = [9.0, 30.0] # corresponding speeds in m/s in [0, ~40] in 1.0 increments + + # Scaling the lateral acceleration "friction response" could be helpful for some. + # Increase for a stronger response, decrease for a weaker response. + self.lat_jerk_friction_factor = 0.4 + self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit + + # precompute time differences between ModelConstants.T_IDXS + self.t_diffs = np.diff(ModelConstants.T_IDXS) + self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3 + + if self.use_nnff: + self.pitch = FirstOrderFilter(0.0, 0.5, 0.01) + # NN model takes current v_ego, lateral_accel, lat accel/jerk error, roll, and past/future/planned data + # of lat accel and roll + # Past value is computed using previous desired lat accel and observed roll + self.torque_from_nn = CI.get_ff_nn + self.nn_friction_override = CI.lat_torque_nn_model.friction_override + + # setup future time offsets + self.nn_time_offset = CP.steerActuatorDelay + 0.2 + future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future + self.nn_future_times = [i + self.nn_time_offset for i in future_times] + self.nn_future_times_np = np.array(self.nn_future_times) + + # setup past time offsets + self.past_times = [-0.3, -0.2, -0.1] + history_check_frames = [int(abs(i)*100) for i in self.past_times] + self.history_frame_offsets = [history_check_frames[0] - i for i in history_check_frames] + self.lateral_accel_desired_deque = deque(maxlen=history_check_frames[0]) + self.roll_deque = deque(maxlen=history_check_frames[0]) + self.error_deque = deque(maxlen=history_check_frames[0]) + self.past_future_len = len(self.past_times) + len(self.nn_future_times) + def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): self.torque_params.latAccelFactor = latAccelFactor self.torque_params.latAccelOffset = latAccelOffset self.torque_params.friction = friction - def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk): + def update(self, active, CS, VM, params, steer_limited, desired_curvature, llk, model_data=None, frogpilot_toggles=None): pid_log = log.ControlsState.LateralTorqueState.new_message() + nn_log = None + if not active: output_torque = 0.0 pid_log.active = False else: actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll) roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY + actual_lateral_jerk = 0.0 if self.use_steering_angle: actual_curvature = actual_curvature_vm curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0)) + if self.use_nnff or self.use_nnff_lite: + actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0) + actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2 else: actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk]) @@ -59,20 +153,97 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 + low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y if not self.use_nnff else LOW_SPEED_Y_NN)**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation - torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False) - torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False) - pid_log.error = torque_from_setpoint - torque_from_measurement - ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, - desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True, - gravity_adjusted=True) + + lateral_jerk_setpoint = 0 + lateral_jerk_measurement = 0 + lookahead_lateral_jerk = 0 + + model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N + if model_good and (self.use_nnff or self.use_nnff_lite): + # prepare "look-ahead" desired lateral jerk + lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v) + friction_upper_idx = next((i for i, val in enumerate(ModelConstants.T_IDXS) if val > lookahead), 16) + predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs) + desired_lateral_jerk = (interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time + lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk) + if self.use_steering_angle or lookahead_lateral_jerk == 0.0: + lookahead_lateral_jerk = 0.0 + actual_lateral_jerk = 0.0 + self.lat_accel_friction_factor = 1.0 + lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk + lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk + + if self.use_nnff and model_good: + # update past data + pitch = 0 + roll = params.roll + if len(llk.calibratedOrientationNED.value) > 1: + pitch = self.pitch.update(llk.calibratedOrientationNED.value[1]) + roll = roll_pitch_adjust(roll, pitch) + self.roll_deque.append(roll) + self.lateral_accel_desired_deque.append(desired_lateral_accel) + + # prepare past and future values + # adjust future times to account for longitudinal acceleration + adjusted_future_times = [t + 0.5*CS.aEgo*(t/max(CS.vEgo, 1.0)) for t in self.nn_future_times] + past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, i)] for i in self.history_frame_offsets] + future_rolls = [roll_pitch_adjust(interp(t, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(t, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for t in adjusted_future_times] + past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, i)] for i in self.history_frame_offsets] + future_planned_lateral_accels = [interp(t, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for t in adjusted_future_times] + + # compute NNFF error response + nnff_setpoint_input = [CS.vEgo, setpoint, lateral_jerk_setpoint, roll] \ + + [setpoint] * self.past_future_len \ + + past_rolls + future_rolls + # past lateral accel error shouldn't count, so use past desired like the setpoint input + nnff_measurement_input = [CS.vEgo, measurement, lateral_jerk_measurement, roll] \ + + [measurement] * self.past_future_len \ + + past_rolls + future_rolls + torque_from_setpoint = self.torque_from_nn(nnff_setpoint_input) + torque_from_measurement = self.torque_from_nn(nnff_measurement_input) + + pid_log.error = torque_from_setpoint - torque_from_measurement + error_blend_factor = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]) + if error_blend_factor > 0.0: # blend in stronger error response when in high lat accel + nnff_error_input = [CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0] + torque_from_error = self.torque_from_nn(nnff_error_input) + if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error): + pid_log.error = pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor + + # compute feedforward (same as nn setpoint output) + error = setpoint - measurement + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] \ + + past_lateral_accels_desired + future_planned_lateral_accels \ + + past_rolls + future_rolls + ff = self.torque_from_nn(nn_input) + + # apply friction override for cars with low NN friction response + if self.nn_friction_override: + pid_log.error += self.torque_from_lateral_accel(LatControlInputs(0.0, 0.0, CS.vEgo, CS.aEgo), self.torque_params, + friction_input, lateral_accel_deadzone, friction_compensation=True, gravity_adjusted=False) + nn_log = nn_input + nnff_setpoint_input + nnff_measurement_input + else: + gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation + torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + lateral_jerk_setpoint, lateral_accel_deadzone, friction_compensation=self.use_nnff_lite, gravity_adjusted=False) + torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + lateral_jerk_measurement, lateral_accel_deadzone, friction_compensation=self.use_nnff_lite, gravity_adjusted=False) + pid_log.error = torque_from_setpoint - torque_from_measurement + error = desired_lateral_accel - actual_lateral_accel + if self.use_nnff_lite: + friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk + else: + friction_input = error + ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params, + friction_input, lateral_accel_deadzone, friction_compensation=True, + gravity_adjusted=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 + self.pid._k_p = frogpilot_toggles.steer_kp output_torque = self.pid.update(pid_log.error, feedforward=ff, speed=CS.vEgo, @@ -87,6 +258,8 @@ class LatControlTorque(LatControl): pid_log.actualLateralAccel = actual_lateral_accel pid_log.desiredLateralAccel = desired_lateral_accel pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) + if nn_log is not None: + pid_log.nnLog = nn_log # TODO left is positive in this convention return -output_torque, 0.0, pid_log diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index efeb76c4a..f18184e58 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,7 +1,7 @@ from cereal import car -from openpilot.common.numpy_fast import clip +from openpilot.common.numpy_fast import clip, interp from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.modeld.constants import ModelConstants @@ -11,12 +11,14 @@ LongCtrlState = car.CarControl.Actuators.LongControlState def long_control_state_trans(CP, active, long_control_state, v_ego, - should_stop, brake_pressed, cruise_standstill): + should_stop, brake_pressed, cruise_standstill, frogpilot_toggles): + # Ignore cruise standstill if car has a gas interceptor + cruise_standstill = cruise_standstill and not CP.enableGasInterceptor stopping_condition = should_stop starting_condition = (not should_stop and not cruise_standstill and not brake_pressed) - started_condition = v_ego > CP.vEgoStarting + started_condition = v_ego > frogpilot_toggles.vEgoStarting if not active: long_control_state = LongCtrlState.off @@ -44,6 +46,46 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, long_control_state = LongCtrlState.pid return long_control_state +def long_control_state_trans_old_long(CP, active, long_control_state, v_ego, v_target, + v_target_1sec, brake_pressed, cruise_standstill): + accelerating = v_target_1sec > v_target + planned_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping and + not accelerating) + stay_stopped = (v_ego < CP.vEgoStopping and + (brake_pressed or cruise_standstill)) + stopping_condition = planned_stop or stay_stopped + + starting_condition = (v_target_1sec > CP.vEgoStarting and + accelerating and + not cruise_standstill and + not brake_pressed) + started_condition = v_ego > CP.vEgoStarting + + if not active: + long_control_state = LongCtrlState.off + + else: + if long_control_state in (LongCtrlState.off, LongCtrlState.pid): + long_control_state = LongCtrlState.pid + if stopping_condition: + long_control_state = LongCtrlState.stopping + + elif long_control_state == LongCtrlState.stopping: + if starting_condition and CP.startingState: + long_control_state = LongCtrlState.starting + elif starting_condition: + long_control_state = LongCtrlState.pid + + elif long_control_state == LongCtrlState.starting: + if stopping_condition: + long_control_state = LongCtrlState.stopping + elif started_condition: + long_control_state = LongCtrlState.pid + + return long_control_state + + class LongControl: def __init__(self, CP): self.CP = CP @@ -51,19 +93,20 @@ class LongControl: self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL) + self.v_pid = 0.0 self.last_output_accel = 0.0 def reset(self): self.pid.reset() - def update(self, active, CS, a_target, should_stop, accel_limits): + def update(self, active, CS, a_target, should_stop, accel_limits, frogpilot_toggles): """Update longitudinal control. This updates the state machine and runs a PID loop""" self.pid.neg_limit = accel_limits[0] self.pid.pos_limit = accel_limits[1] self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, should_stop, CS.brakePressed, - CS.cruiseState.standstill) + CS.cruiseState.standstill, frogpilot_toggles) if self.long_control_state == LongCtrlState.off: self.reset() output_accel = 0. @@ -72,11 +115,11 @@ class LongControl: output_accel = self.last_output_accel if output_accel > self.CP.stopAccel: output_accel = min(output_accel, 0.0) - output_accel -= self.CP.stoppingDecelRate * DT_CTRL + output_accel -= frogpilot_toggles.stoppingDecelRate * DT_CTRL self.reset() elif self.long_control_state == LongCtrlState.starting: - output_accel = self.CP.startAccel + output_accel = (a_target if frogpilot_toggles.human_acceleration else self.CP.startAccel) self.reset() else: # LongCtrlState.pid @@ -86,3 +129,68 @@ class LongControl: self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) return self.last_output_accel + + def reset_old_long(self, v_pid): + """Reset PID controller and change setpoint""" + self.pid.reset() + self.v_pid = v_pid + + def update_old_long(self, active, CS, long_plan, accel_limits, t_since_plan, frogpilot_toggles): + """Update longitudinal control. This updates the state machine and runs a PID loop""" + # Interp control trajectory + speeds = long_plan.speeds + if len(speeds) == CONTROL_N: + v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds) + a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels) + + v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now + + v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_now = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + + self.pid.neg_limit = accel_limits[0] + self.pid.pos_limit = accel_limits[1] + + output_accel = self.last_output_accel + self.long_control_state = long_control_state_trans_old_long(self.CP, active, self.long_control_state, CS.vEgo, + v_target, v_target_1sec, CS.brakePressed, + CS.cruiseState.standstill) + + if self.long_control_state == LongCtrlState.off: + self.reset_old_long(CS.vEgo) + output_accel = 0. + + elif self.long_control_state == LongCtrlState.stopping: + if output_accel > self.CP.stopAccel: + output_accel = min(output_accel, 0.0) + output_accel -= self.CP.stoppingDecelRate * DT_CTRL + self.reset_old_long(CS.vEgo) + + elif self.long_control_state == LongCtrlState.starting: + output_accel = self.CP.startAccel + self.reset_old_long(CS.vEgo) + + elif self.long_control_state == LongCtrlState.pid: + self.v_pid = v_target_now + + # Toyota starts braking more when it thinks you want to stop + # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration + # TODO too complex, needs to be simplified and tested on toyotas + prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid + deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV) + freeze_integrator = prevent_overshoot + + error = self.v_pid - CS.vEgo + error_deadzone = apply_deadzone(error, deadzone) + output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, + feedforward=a_target, + freeze_integrator=freeze_integrator) + + self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) + + return self.last_output_accel diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py old mode 100755 new mode 100644 index bad37add6..a14457430 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -9,7 +9,6 @@ from openpilot.common.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild from openpilot.selfdrive.modeld.constants import index_function from openpilot.selfdrive.car.interfaces import ACCEL_MIN -from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU if __name__ == '__main__': # generating code from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver @@ -43,6 +42,8 @@ CRASH_DISTANCE = .25 LEAD_DANGER_FACTOR = 0.75 LIMIT_COST = 1e6 ACADOS_SOLVER_TYPE = 'SQP_RTI' +# Default lead acceleration decay set to 50% at 1s +LEAD_ACCEL_TAU = 1.5 # Fewer timestamps don't hurt performance and lead to @@ -57,26 +58,49 @@ T_DIFFS = np.diff(T_IDXS, prepend=[0.]) COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 -def get_jerk_factor(personality=log.LongitudinalPersonality.standard): - if personality==log.LongitudinalPersonality.relaxed: - return 1.0 - elif personality==log.LongitudinalPersonality.standard: - return 1.0 - elif personality==log.LongitudinalPersonality.aggressive: - return 0.5 +def get_jerk_factor(aggressive_jerk_acceleration=0.5, aggressive_jerk_danger=0.5, aggressive_jerk_speed=0.5, + standard_jerk_acceleration=1.0, standard_jerk_danger=1.0, standard_jerk_speed=1.0, + relaxed_jerk_acceleration=1.0, relaxed_jerk_danger=1.0, relaxed_jerk_speed=1.0, + custom_personalities=False, personality=log.LongitudinalPersonality.standard): + if custom_personalities: + if personality==log.LongitudinalPersonality.relaxed: + return relaxed_jerk_acceleration, relaxed_jerk_danger, relaxed_jerk_speed + elif personality==log.LongitudinalPersonality.standard: + return standard_jerk_acceleration, standard_jerk_danger, standard_jerk_speed + elif personality==log.LongitudinalPersonality.aggressive: + return aggressive_jerk_acceleration, aggressive_jerk_danger, aggressive_jerk_speed + else: + raise NotImplementedError("Longitudinal personality not supported") else: - raise NotImplementedError("Longitudinal personality not supported") + if personality==log.LongitudinalPersonality.relaxed: + return 1.0, 1.0, 1.0 + elif personality==log.LongitudinalPersonality.standard: + return 1.0, 1.0, 1.0 + elif personality==log.LongitudinalPersonality.aggressive: + return 0.5, 0.5, 0.5 + else: + raise NotImplementedError("Longitudinal personality not supported") -def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): - if personality==log.LongitudinalPersonality.relaxed: - return 1.75 - elif personality==log.LongitudinalPersonality.standard: - return 1.45 - elif personality==log.LongitudinalPersonality.aggressive: - return 1.25 +def get_T_FOLLOW(aggressive_follow=1.25, standard_follow=1.45, relaxed_follow=1.75, custom_personalities=False, personality=log.LongitudinalPersonality.standard): + if custom_personalities: + if personality==log.LongitudinalPersonality.relaxed: + return relaxed_follow + elif personality==log.LongitudinalPersonality.standard: + return standard_follow + elif personality==log.LongitudinalPersonality.aggressive: + return aggressive_follow + else: + raise NotImplementedError("Longitudinal personality not supported") else: - raise NotImplementedError("Longitudinal personality not supported") + if personality==log.LongitudinalPersonality.relaxed: + return 1.75 + elif personality==log.LongitudinalPersonality.standard: + return 1.45 + elif personality==log.LongitudinalPersonality.aggressive: + return 1.25 + else: + raise NotImplementedError("Longitudinal personality not supported") def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) @@ -273,12 +297,11 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): - jerk_factor = get_jerk_factor(personality) + def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): if self.mode == 'acc': - a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] + a_change_cost = acceleration_jerk if prev_accel_constraint else 0 + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, speed_jerk] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, danger_jerk] elif self.mode == 'blended': a_change_cost = 40.0 if prev_accel_constraint else 0 cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] @@ -315,7 +338,7 @@ class LongitudinalMpc: x_lead = 50.0 v_lead = v_ego + 10.0 a_lead = 0.0 - a_lead_tau = _LEAD_ACCEL_TAU + a_lead_tau = LEAD_ACCEL_TAU # MPC will not converge if immediate crash is expected # Clip lead distance to what is still possible to brake for @@ -332,13 +355,12 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): - t_follow = get_T_FOLLOW(personality) + def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_follow, trafficModeActive, personality=log.LongitudinalPersonality.standard): v_ego = self.x0[1] - self.status = radarstate.leadOne.status or radarstate.leadTwo.status + self.status = lead_one.status or lead_two.status - lead_xv_0 = self.process_lead(radarstate.leadOne) - lead_xv_1 = self.process_lead(radarstate.leadTwo) + lead_xv_0 = self.process_lead(lead_one) + lead_xv_1 = self.process_lead(lead_two) # To estimate a safe distance from a moving lead, we calculate how much stopping # distance that lead needs as a minimum. We can add that to the current distance @@ -347,7 +369,8 @@ class LongitudinalMpc: lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) self.params[:,0] = ACCEL_MIN - self.params[:,1] = self.max_a + # negative accel constraint causes problems because negative speed is not allowed + self.params[:,1] = max(0.0, self.max_a) # Update in ACC mode or ACC/e2e blend if self.mode == 'acc': @@ -356,6 +379,7 @@ class LongitudinalMpc: # Fake an obstacle for cruise, this ensures smooth acceleration to set speed # when the leads are no factor. v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) + # TODO does this make sense when max_a is negative? v_upper = v_ego + (T_IDXS * self.max_a * 1.05) v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, @@ -397,8 +421,8 @@ class LongitudinalMpc: self.params[:,4] = t_follow self.run() - if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and - radarstate.leadOne.modelProb > 0.9): + lead_probability = lead_one.prob if radarless_model else lead_one.modelProb + if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and lead_probability > 0.9): self.crash_cnt += 1 else: self.crash_cnt = 0 diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py old mode 100755 new mode 100644 index a193a5b41..05f1f9325 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -6,13 +6,14 @@ from openpilot.common.numpy_fast import clip, interp import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.simple_kalman import KF1D from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC, LEAD_ACCEL_TAU +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, CONTROL_N, get_speed_error from openpilot.common.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s @@ -20,15 +21,22 @@ A_CRUISE_MIN = -1.2 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N] +ALLOW_THROTTLE_THRESHOLD = 0.5 +MIN_ALLOW_THROTTLE_SPEED = 2.5 # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] _A_TOTAL_MAX_BP = [20., 40.] +# Kalman filter states enum +LEAD_KALMAN_SPEED, LEAD_KALMAN_ACCEL = 0, 1 def get_max_accel(v_ego): return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS) +def get_coast_accel(pitch): + return np.sin(pitch) * -5.65 - 0.3 # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py + def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): """ @@ -44,23 +52,108 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return [a_target[0], min(a_target[1], a_x_allowed)] -def get_accel_from_plan(CP, speeds, accels): - if len(speeds) == CONTROL_N: - v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) - a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) +def get_accel_from_plan_classic(CP, speeds, accels, vEgoStopping): + if len(speeds) == CONTROL_N: + v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) + a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) - v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + if v_target != v_target_now: a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now - - v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) else: - v_target = 0.0 - v_target_now = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - should_stop = (v_target < CP.vEgoStopping and - v_target_1sec < CP.vEgoStopping) - return a_target, should_stop + a_target = a_target_now + + v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < vEgoStopping and + v_target_1sec < vEgoStopping) + return a_target, should_stop + + +def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05): + if len(speeds) == CONTROL_N: + v_now = speeds[0] + a_now = accels[0] + + v_target = interp(action_t, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_now) / (action_t) - a_now + v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < vEgoStopping and + v_target_1sec < vEgoStopping) + return a_target, should_stop + + +def lead_kf(v_lead: float, dt: float = 0.05): + # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library. + # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s + assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s" + A = [[1.0, dt], [0.0, 1.0]] + C = [1.0, 0.0] + #Q = np.matrix([[10., 0.0], [0.0, 100.]]) + #R = 1e3 + #K = np.matrix([[ 0.05705578], [ 0.03073241]]) + dts = [dt * 0.01 for dt in range(1, 21)] + K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689, 0.21372394, + 0.22761098, 0.24069424, 0.253096, 0.26491023, 0.27621103, 0.28705801, + 0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814, + 0.35353899, 0.36200124] + K1 = [0.29666309, 0.29330885, 0.29042818, 0.28787125, 0.28555364, 0.28342219, + 0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714, + 0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557, + 0.26393339, 0.26278425] + K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]] + + kf = KF1D([[v_lead], [0.0]], A, C, K) + return kf + + +class Lead: + def __init__(self): + self.dRel = 0.0 + self.yRel = 0.0 + self.vLead = 0.0 + self.aLead = 0.0 + self.vLeadK = 0.0 + self.aLeadK = 0.0 + self.aLeadTau = LEAD_ACCEL_TAU + self.prob = 0.0 + self.status = False + + self.kf: KF1D | None = None + + def reset(self): + self.status = False + self.kf = None + self.aLeadTau = LEAD_ACCEL_TAU + + def update(self, dRel: float, yRel: float, vLead: float, aLead: float, prob: float): + self.dRel = dRel + self.yRel = yRel + self.vLead = vLead + self.aLead = aLead + self.prob = prob + self.status = True + + if self.kf is None: + self.kf = lead_kf(self.vLead) + else: + self.kf.update(self.vLead) + + self.vLeadK = float(self.kf.x[LEAD_KALMAN_SPEED][0]) + self.aLeadK = float(self.kf.x[LEAD_KALMAN_ACCEL][0]) + + # Learn if constant acceleration + if abs(self.aLeadK) < 0.5: + self.aLeadTau = LEAD_ACCEL_TAU + else: + self.aLeadTau *= 0.9 class LongitudinalPlanner: @@ -69,21 +162,25 @@ class LongitudinalPlanner: self.mpc = LongitudinalMpc(dt=dt) self.fcw = False self.dt = dt + self.allow_throttle = True self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 + self.lead_one = Lead() + self.lead_two = Lead() + self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 @staticmethod - def parse_model(model_msg, model_error): + def parse_model(model_msg, model_error, v_ego, taco_tune): if (len(model_msg.position.x) == ModelConstants.IDX_N and - len(model_msg.velocity.x) == ModelConstants.IDX_N and - len(model_msg.acceleration.x) == ModelConstants.IDX_N): + len(model_msg.velocity.x) == ModelConstants.IDX_N and + len(model_msg.acceleration.x) == ModelConstants.IDX_N): x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) @@ -93,27 +190,47 @@ class LongitudinalPlanner: v = np.zeros(len(T_IDXS_MPC)) a = np.zeros(len(T_IDXS_MPC)) j = np.zeros(len(T_IDXS_MPC)) - return x, v, a, j - def update(self, sm): + if taco_tune: + max_lat_accel = interp(v_ego, [5, 10, 20], [1.5, 2.0, 3.0]) + curvatures = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.orientationRate.z) / np.clip(v, 0.3, 100.0) + max_v = np.sqrt(max_lat_accel / (np.abs(curvatures) + 1e-3)) - 2.0 + v = np.minimum(max_v, v) + + if len(model_msg.meta.disengagePredictions.gasPressProbs) > 1: + throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1] + else: + throttle_prob = 1.0 + return x, v, a, j, throttle_prob + + def update(self, radarless_model, sm, frogpilot_toggles): self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' + if len(sm['carControl'].orientationNED) == 3: + accel_coast = get_coast_accel(sm['carControl'].orientationNED[1]) + else: + accel_coast = ACCEL_MAX + v_ego = sm['carState'].vEgo v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS + v_cruise_initialized = sm['controlsState'].vCruise != V_CRUISE_UNSET long_control_off = sm['controlsState'].longControlState == LongCtrlState.off force_slow_decel = sm['controlsState'].forceDecel # Reset current state when not engaged, or user is controlling the speed reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled + # PCM cruise speed may be updated a few cycles later, check if initialized + reset_state = reset_state or not v_cruise_initialized # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) if self.mpc.mode == 'acc': - accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] - accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + accel_limits = [sm['frogpilotPlan'].minAcceleration, sm['frogpilotPlan'].maxAcceleration] + steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg + accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP) else: accel_limits = [ACCEL_MIN, ACCEL_MAX] accel_limits_turns = [ACCEL_MIN, ACCEL_MAX] @@ -127,6 +244,14 @@ class LongitudinalPlanner: self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) # Compute model v_ego error self.v_model_error = get_speed_error(sm['modelV2'], v_ego) + x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune) + # Don't clip at low speeds since throttle_prob doesn't account for creep + self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED + + if not self.allow_throttle: + clipped_accel_coast = max(accel_coast, accel_limits_turns[0]) + clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast]) + accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp) if force_slow_decel: v_cruise = 0.0 @@ -134,11 +259,26 @@ class LongitudinalPlanner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality) + if radarless_model: + model_leads = list(sm['modelV2'].leadsV3) + # TODO lead state should be invalidated if its different point than the previous one + lead_states = [self.lead_one, self.lead_two] + for index in range(len(lead_states)): + if len(model_leads) > index: + distance_offset = max(frogpilot_toggles.increased_stopped_distance + min(10 - v_ego, 0), 0) if not sm['frogpilotCarState'].trafficModeActive else 0 + model_lead = model_leads[index] + lead_states[index].update(model_lead.x[0] - distance_offset, model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob) + else: + lead_states[index].reset() + else: + self.lead_one = sm['radarState'].leadOne + self.lead_two = sm['radarState'].leadTwo + + self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk, sm['frogpilotPlan'].dangerJerk, sm['frogpilotPlan'].speedJerk, prev_accel_constraint, personality=sm['controlsState'].personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality) + self.mpc.update(self.lead_one, self.lead_two, sm['frogpilotPlan'].vCruise, x, v, a, j, radarless_model, sm['frogpilotPlan'].tFollow, + sm['frogpilotCarState'].trafficModeActive, personality=sm['controlsState'].personality) self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution) self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution) @@ -155,32 +295,33 @@ class LongitudinalPlanner: self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory)) self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 - def publish(self, sm, pm): + def publish(self, classic_model, sm, pm, frogpilot_toggles): plan_send = messaging.new_message('longitudinalPlan') plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) - longitudinalPlan = plan_send.longitudinalPlan longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2'] longitudinalPlan.solverExecutionTime = self.mpc.solve_time - longitudinalPlan.allowBrake = True - longitudinalPlan.allowThrottle = True - longitudinalPlan.speeds = self.v_desired_trajectory.tolist() longitudinalPlan.accels = self.a_desired_trajectory.tolist() longitudinalPlan.jerks = self.j_desired_trajectory.tolist() - longitudinalPlan.hasLead = sm['radarState'].leadOne.status + longitudinalPlan.hasLead = self.lead_one.status longitudinalPlan.longitudinalPlanSource = self.mpc.source longitudinalPlan.fcw = self.fcw - a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels) + if classic_model: + a_target, should_stop = get_accel_from_plan_classic(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels, vEgoStopping=frogpilot_toggles.vEgoStopping) + else: + action_t = self.CP.longitudinalActuatorDelay + DT_MDL + a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels, + action_t=action_t, vEgoStopping=frogpilot_toggles.vEgoStopping) longitudinalPlan.aTarget = a_target longitudinalPlan.shouldStop = should_stop longitudinalPlan.allowBrake = True - longitudinalPlan.allowThrottle = True + longitudinalPlan.allowThrottle = self.allow_throttle pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index 29c4d8bd4..36cbf9c4e 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -59,15 +59,13 @@ class PIDController: if override: self.i -= self.i_unwind_rate * float(np.sign(self.i)) else: - i = self.i + error * self.k_i * self.i_rate - control = self.p + i + self.d + self.f + if not freeze_integrator: + self.i = self.i + error * self.k_i * self.i_rate - # Update when changing i will move the control away from the limits - # or when i will move towards the sign of the error - if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or - (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \ - not freeze_integrator: - self.i = i + # Clip i to prevent exceeding control limits + control_no_i = self.p + self.d + self.f + control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit) + self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i) control = self.p + self.i + self.d + self.f diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py old mode 100755 new mode 100644 index eeeeda050..297b1e74f --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -6,6 +6,8 @@ from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner import cereal.messaging as messaging +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles + def publish_ui_plan(sm, pm, longitudinal_planner): ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) @@ -28,16 +30,27 @@ def plannerd_thread(): longitudinal_planner = LongitudinalPlanner(CP) pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan']) - sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', + 'frogpilotCarState', 'frogpilotPlan'], poll='modelV2', ignore_avg_freq=['radarState']) + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + + classic_model = frogpilot_toggles.classic_model + radarless_model = frogpilot_toggles.radarless_model + while True: sm.update() if sm.updated['modelV2']: - longitudinal_planner.update(sm) - longitudinal_planner.publish(sm, pm) + longitudinal_planner.update(radarless_model, sm, frogpilot_toggles) + longitudinal_planner.publish(classic_model, sm, pm, frogpilot_toggles) publish_ui_plan(sm, pm, longitudinal_planner) + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() + def main(): plannerd_thread() diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py old mode 100755 new mode 100644 index 7420f666f..2596870ca --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -2,6 +2,7 @@ import importlib import math from collections import deque +from types import SimpleNamespace from typing import Any import capnp @@ -13,6 +14,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.simple_kalman import KF1D +from openpilot.selfdrive.frogpilot.frogpilot_variables import LANE_WIDTH, get_frogpilot_toggles # Default lead acceleration decay set to 50% at 1s _LEAD_ACCEL_TAU = 1.5 @@ -107,6 +109,19 @@ class Track: "radarTrackId": self.identifier, } + def potential_adjacent_lead(self, far: bool, lane_width: float, left: bool, model_data: capnp._DynamicStructReader): + adjacent_lane_max = float('inf') if far else lane_width * 1.5 + adjacent_lane_min = max(lane_width * 1.5, LANE_WIDTH * 1.5) if far else max(lane_width * 0.5, LANE_WIDTH / 2) + + y_delta = self.yRel + interp(self.dRel, model_data.position.x, model_data.position.y) + + if left and adjacent_lane_min < y_delta < adjacent_lane_max: + return True + elif not left and adjacent_lane_min < -y_delta < adjacent_lane_max: + return True + else: + return False + def potential_low_speed_lead(self, v_ego: float): # stop for stuff in front of you and low speed, even without model confirmation # Radar points closer than 0.75, are almost always glitches on toyota radars @@ -167,9 +182,11 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader, - model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]: + model_v_ego: float, + frogpilot_toggles: SimpleNamespace, frogpilotCarState: capnp._DynamicStructReader, model_data: capnp._DynamicStructReader, + low_speed_override: bool = True) -> dict[str, Any]: # Determine leads, this is where the essential logic happens - if len(tracks) > 0 and ready and lead_msg.prob > .5: + if len(tracks) > 0 and ready and lead_msg.prob > frogpilot_toggles.lead_detection_probability: track = match_vision_to_track(v_ego, lead_msg, tracks) else: track = None @@ -177,7 +194,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn lead_dict = {'status': False} if track is not None: lead_dict = track.get_RadarState(lead_msg.prob) - elif (track is None) and ready and (lead_msg.prob > .5): + elif (track is None) and ready and (lead_msg.prob > frogpilot_toggles.lead_detection_probability): lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) if low_speed_override: @@ -189,11 +206,33 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']): lead_dict = closest_track.get_RadarState() + if not lead_dict['status'] and v_ego > 1 and frogpilot_toggles.allow_far_lead_tracking: + far_lead_tracks = [c for c in tracks.values() if abs(c.yRel + interp(c.dRel, model_data.position.x, model_data.position.y)) < LANE_WIDTH / 2 and c.dRel > 50 and c.vLead > 1] + if len(far_lead_tracks) > 0: + closest_track = min(far_lead_tracks, key=lambda c: c.dRel) + lead_dict = closest_track.get_RadarState() + + if 'dRel' in lead_dict: + lead_dict['dRel'] -= frogpilot_toggles.increased_stopped_distance if not frogpilotCarState.trafficModeActive else 0 + + return lead_dict + + +def get_lead_adjacent(tracks: dict[int, Track], model_data: capnp._DynamicStructReader, lane_width: float, left: bool = True, far: bool = False) -> dict[str, Any]: + lead_dict = {'status': False} + + adjacent_tracks = [c for c in tracks.values() if c.vLead > 1 and c.potential_adjacent_lead(far, lane_width, left, model_data)] + if len(adjacent_tracks) > 0: + closest_track = min(adjacent_tracks, key=lambda c: c.dRel) + lead_dict = closest_track.get_RadarState() + return lead_dict class RadarD: - def __init__(self, radar_ts: float, delay: int = 0): + def __init__(self, frogpilot_toggles, radar_ts: float, delay: int = 0): + self.points: dict[int, tuple[float, float, float]] = {} + self.current_time = 0.0 self.tracks: dict[int, Track] = {} @@ -205,9 +244,15 @@ class RadarD: self.radar_state: capnp._DynamicStructBuilder | None = None self.radar_state_valid = False + self.radar_tracks_valid = False self.ready = False + # FrogPilot variables + self.frogpilot_toggles = frogpilot_toggles + + self.classic_model = self.frogpilot_toggles.classic_model + def update(self, sm: messaging.SubMaster, rr): self.ready = sm.seen['modelV2'] self.current_time = 1e-9*max(sm.logMonoTime.values()) @@ -251,14 +296,26 @@ class RadarD: self.radar_state.radarErrors = list(radar_errors) self.radar_state.carStateMonoTime = sm.logMonoTime['carState'] - if len(sm['modelV2'].temporalPose.trans): + if self.classic_model and len(sm['modelV2'].temporalPose.trans): model_v_ego = sm['modelV2'].temporalPose.trans[0] + elif len(sm['modelV2'].velocity.x): + model_v_ego = sm['modelV2'].velocity.x[0] else: model_v_ego = self.v_ego leads_v3 = sm['modelV2'].leadsV3 if len(leads_v3) > 1: - self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True) - self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False) + self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.frogpilot_toggles, sm['frogpilotCarState'], sm['modelV2'], low_speed_override=True) + self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.frogpilot_toggles, sm['frogpilotCarState'], sm['modelV2'], low_speed_override=False) + + if self.frogpilot_toggles.adjacent_lead_tracking and self.ready: + self.radar_state.leadLeft = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthLeft, left=True) + self.radar_state.leadLeftFar = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthLeft, left=True, far=True) + self.radar_state.leadRight = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthRight, left=False) + self.radar_state.leadRightFar = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthRight, left=False, far=True) + + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + self.frogpilot_toggles = get_frogpilot_toggles() def publish(self, pm: messaging.PubMaster, lag_ms: float): assert self.radar_state is not None @@ -281,6 +338,31 @@ class RadarD: } pm.send('liveTracks', tracks_msg) + def update_radardless(self, rr): + radar_points = [] + radar_errors = [] + if rr is not None: + radar_points = rr.points + radar_errors = rr.errors + + self.radar_tracks_valid = len(radar_errors) == 0 + + self.points = {} + for pt in radar_points: + self.points[pt.trackId] = (pt.dRel, pt.yRel, pt.vRel) + + def publish_radardless(self): + tracks_msg = messaging.new_message('liveTracks', len(self.points)) + tracks_msg.valid = self.radar_tracks_valid + for index, tid in enumerate(sorted(self.points.keys())): + tracks_msg.liveTracks[index] = { + "trackId": tid, + "dRel": float(self.points[tid][0]) + RADAR_TO_CAMERA, + "yRel": -float(self.points[tid][1]), + "vRel": float(self.points[tid][2]), + } + + return tracks_msg # fuses camera and radar data for best lead detection def main(): @@ -298,26 +380,42 @@ def main(): # *** setup messaging can_sock = messaging.sub_sock('can') - sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL)) - pm = messaging.PubMaster(['radarState', 'liveTracks']) RI = RadarInterface(CP) rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) - RD = RadarD(CP.radarTimeStep, RI.delay) - while 1: - can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) - rr = RI.update(can_strings) - sm.update(0) - if rr is None: - continue + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() - RD.update(sm, rr) - RD.publish(pm, -rk.remaining*1000.0) + RD = RadarD(frogpilot_toggles, CP.radarTimeStep, RI.delay) - rk.monitor_time() + if not frogpilot_toggles.radarless_model: + sm = messaging.SubMaster(['modelV2', 'carState', 'frogpilotCarState', 'frogpilotPlan'], frequency=int(1./DT_CTRL)) + pm = messaging.PubMaster(['radarState', 'liveTracks']) + while 1: + can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) + rr = RI.update(can_strings) + sm.update(0) + if rr is None: + continue + RD.update(sm, rr) + RD.publish(pm, -rk.remaining*1000.0) + rk.monitor_time() + else: + pub_sock = messaging.pub_sock('liveTracks') + while 1: + can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) + rr = RI.update(can_strings) + if rr is None: + continue + + RD.update_radardless(rr) + msg = RD.publish_radardless() + pub_sock.send(msg.to_bytes()) + + rk.monitor_time() if __name__ == "__main__": main() diff --git a/selfdrive/frogpilot/assets/download_functions.py b/selfdrive/frogpilot/assets/download_functions.py new file mode 100644 index 000000000..493211b87 --- /dev/null +++ b/selfdrive/frogpilot/assets/download_functions.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python3 +import requests +import tempfile + +from datetime import datetime +from pathlib import Path + +from openpilot.selfdrive.frogpilot.frogpilot_utilities import delete_file, is_url_pingable + +GITHUB_URL = "https://raw.githubusercontent.com/FrogAi/FrogPilot-Resources" +GITLAB_URL = "https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw" + +def check_github_rate_limit(): + try: + response = requests.get("https://api.github.com/rate_limit") + response.raise_for_status() + rate_limit_info = response.json() + + remaining = rate_limit_info["rate"]["remaining"] + print(f"GitHub API Requests Remaining: {remaining}") + if remaining > 0: + return True + + reset_time = datetime.utcfromtimestamp(rate_limit_info["rate"]["reset"]).strftime('%Y-%m-%d %H:%M:%S') + print("GitHub rate limit reached") + print(f"GitHub Rate Limit Resets At (UTC): {reset_time}") + return False + except requests.exceptions.RequestException as error: + print(f"Error checking GitHub rate limit: {error}") + return False + +def download_file(cancel_param, destination, progress_param, url, download_param, params_memory): + try: + destination.parent.mkdir(parents=True, exist_ok=True) + + total_size = get_remote_file_size(url) + if total_size == 0: + return + + with requests.get(url, stream=True, timeout=10) as response: + response.raise_for_status() + + with tempfile.NamedTemporaryFile(dir=destination.parent, delete=False) as temp_file: + temp_file_path = Path(temp_file.name) + + downloaded_size = 0 + for chunk in response.iter_content(chunk_size=16384): + if params_memory.get_bool(cancel_param): + temp_file_path.unlink(missing_ok=True) + handle_error(None, "Download cancelled...", "Download cancelled...", download_param, progress_param, params_memory) + return + + if chunk: + temp_file.write(chunk) + downloaded_size += len(chunk) + + progress = (downloaded_size / total_size) * 100 + if progress != 100: + params_memory.put(progress_param, f"{progress:.0f}%") + else: + params_memory.put(progress_param, "Verifying authenticity...") + + temp_file_path.rename(destination) + + except Exception as error: + handle_request_error(error, destination, download_param, progress_param, params_memory) + +def handle_error(destination, error_message, error, download_param, progress_param, params_memory): + if destination: + delete_file(destination) + + if progress_param and "404" not in error_message: + print(f"Error occurred: {error}") + params_memory.put(progress_param, error_message) + params_memory.remove(download_param) + +def handle_request_error(error, destination, download_param, progress_param, params_memory): + error_map = { + requests.ConnectionError: "Connection dropped", + requests.HTTPError: lambda error: f"Server error ({error.response.status_code})" if error.response else "Server error", + requests.RequestException: "Network request error. Check connection", + requests.Timeout: "Download timed out" + } + + error_message = error_map.get(type(error), "Unexpected error") + handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory) + +def get_remote_file_size(url): + try: + response = requests.head(url, headers={'Accept-Encoding': 'identity'}, timeout=10) + response.raise_for_status() + return int(response.headers.get('Content-Length', 0)) + except Exception as error: + handle_request_error(error, None, None, None, None) + return 0 + +def get_repository_url(): + if is_url_pingable("https://github.com"): + if check_github_rate_limit(): + return GITHUB_URL + if is_url_pingable("https://gitlab.com"): + return GITLAB_URL + return None + +def verify_download(file_path, url): + remote_file_size = get_remote_file_size(url) + + if remote_file_size == 0: + print(f"Error fetching remote size for {file_path}") + return False + + if not file_path.is_file(): + print(f"File not found: {file_path}") + return False + + if remote_file_size != file_path.stat().st_size: + print(f"File size mismatch for {file_path}") + return False + + return True diff --git a/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_flag.png new file mode 100644 index 000000000..c242059f6 Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_flag.png differ diff --git a/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_home.png new file mode 100644 index 000000000..8df07383e Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_home.png differ diff --git a/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_settings.png b/selfdrive/frogpilot/assets/holiday_themes/april_fools/icons/button_settings.png new file 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b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/colors/colors.json @@ -0,0 +1,44 @@ +{ + "LaneLines": { + "red": 23, + "green": 134, + "blue": 68, + "alpha": 242 + }, + "LeadMarker": { + "red": 23, + "green": 134, + "blue": 68, + "alpha": 242 + }, + "Path": { + "red": 23, + "green": 134, + "blue": 68, + "alpha": 242 + }, + "PathEdge": { + "red": 18, + "green": 107, + "blue": 54, + "alpha": 242 + }, + "Sidebar1": { + "red": 23, + "green": 134, + "blue": 68, + "alpha": 242 + }, + "Sidebar2": { + "red": 23, + "green": 134, + "blue": 68, + "alpha": 242 + }, + "Sidebar3": { + "red": 23, + "green": 134, + "blue": 68, + "alpha": 242 + } +} diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/aggressive.gif b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/aggressive.gif new file mode 100644 index 000000000..05cd8d01c Binary files /dev/null and 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/dev/null and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/steering_wheel/wheel.png differ diff --git a/selfdrive/frogpilot/assets/model_manager.py b/selfdrive/frogpilot/assets/model_manager.py new file mode 100644 index 000000000..1b629f2dd --- /dev/null +++ b/selfdrive/frogpilot/assets/model_manager.py @@ -0,0 +1,235 @@ +#!/usr/bin/env python3 +import json +import re +import requests +import shutil +import time +import urllib.parse +import urllib.request + +from pathlib import Path + +from openpilot.selfdrive.frogpilot.assets.download_functions import GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, verify_download +from openpilot.selfdrive.frogpilot.frogpilot_utilities import delete_file +from openpilot.selfdrive.frogpilot.frogpilot_variables import DEFAULT_MODEL, DEFAULT_CLASSIC_MODEL, MODELS_PATH, params, params_memory + +VERSION = "v12" + +CANCEL_DOWNLOAD_PARAM = "CancelModelDownload" +DOWNLOAD_PROGRESS_PARAM = "ModelDownloadProgress" +MODEL_DOWNLOAD_PARAM = "ModelToDownload" + +class ModelManager: + def __init__(self): + self.downloading_model = False + + @staticmethod + def fetch_models(url): + try: + with urllib.request.urlopen(url, timeout=10) as response: + return json.loads(response.read().decode('utf-8'))['models'] + except Exception as error: + handle_request_error(error, None, None, None, None) + return [] + + @staticmethod + def fetch_all_model_sizes(repo_url): + project_path = "FrogAi/FrogPilot-Resources" + branch = "Models" + + if "github" in repo_url: + api_url = f"https://api.github.com/repos/{project_path}/contents?ref={branch}" + elif "gitlab" in repo_url: + api_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/tree?ref={branch}" + else: + return {} + + try: + response = requests.get(api_url) + response.raise_for_status() + thneed_files = [file for file in response.json() if file['name'].endswith('.thneed')] + + if "gitlab" in repo_url: + model_sizes = {} + for file in thneed_files: + file_path = file['path'] + metadata_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/files/{urllib.parse.quote_plus(file_path)}/raw?ref={branch}" + metadata_response = requests.head(metadata_url) + metadata_response.raise_for_status() + model_sizes[file['name'].replace('.thneed', '')] = int(metadata_response.headers.get('content-length', 0)) + return model_sizes + else: + return {file['name'].replace('.thneed', ''): file['size'] for file in thneed_files if 'size' in file} + except Exception as error: + handle_request_error(f"Failed to fetch model sizes from {'GitHub' if 'github' in repo_url else 'GitLab'}: {error}", None, None, None, None) + return {} + + def handle_verification_failure(self, model, model_path): + print(f"Verification failed for model {model}. Retrying from GitLab...") + model_url = f"{GITLAB_URL}/Models/{model}.thneed" + download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, params_memory) + + if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM): + handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_model = False + return + + if verify_download(model_path, model_url): + print(f"Model {model} downloaded and verified successfully!") + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!") + params_memory.remove(MODEL_DOWNLOAD_PARAM) + self.downloading_model = False + else: + handle_error(model_path, "Verification failed...", "Gitlab verification failed", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_model = False + + def download_model(self, model_to_download): + self.downloading_model = True + + repo_url = get_repository_url() + if not repo_url: + handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_model = False + return + + model_path = MODELS_PATH / f"{model_to_download}.thneed" + model_url = f"{repo_url}/Models/{model_to_download}.thneed" + print(f"Downloading model: {model_to_download}") + download_file(CANCEL_DOWNLOAD_PARAM, model_path, DOWNLOAD_PROGRESS_PARAM, model_url, MODEL_DOWNLOAD_PARAM, params_memory) + + if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM): + handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_model = False + return + + if verify_download(model_path, model_url): + print(f"Model {model_to_download} downloaded and verified successfully!") + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!") + params_memory.remove(MODEL_DOWNLOAD_PARAM) + self.downloading_model = False + else: + self.handle_verification_failure(model_to_download, model_path) + + @staticmethod + def copy_default_model(): + classic_default_model_path = MODELS_PATH / f"{DEFAULT_CLASSIC_MODEL}.thneed" + source_path = Path(__file__).parents[2] / "selfdrive/classic_modeld/models/supercombo.thneed" + if source_path.is_file() and not classic_default_model_path.is_file(): + shutil.copyfile(source_path, classic_default_model_path) + print(f"Copied the classic default model from {source_path} to {classic_default_model_path}") + + default_model_path = MODELS_PATH / f"{DEFAULT_MODEL}.thneed" + source_path = Path(__file__).parents[2] / "selfdrive/modeld/models/supercombo.thneed" + if source_path.is_file() and not default_model_path.is_file(): + shutil.copyfile(source_path, default_model_path) + print(f"Copied the default model from {source_path} to {default_model_path}") + + def check_models(self, available_models, boot_run, repo_url): + available_models = set(available_models) - {DEFAULT_MODEL, DEFAULT_CLASSIC_MODEL} + downloaded_models = set(path.stem for path in MODELS_PATH.glob("*.thneed")) - {DEFAULT_MODEL, DEFAULT_CLASSIC_MODEL} + + outdated_models = downloaded_models - available_models + for model in outdated_models: + model_path = MODELS_PATH / f"{model}.thneed" + print(f"Removing outdated model: {model}") + delete_file(model_path) + + for tmp_file in MODELS_PATH.glob("tmp*"): + if tmp_file.is_file(): + delete_file(tmp_file) + + automatically_update_models = not boot_run and params.get_bool("AutomaticallyUpdateModels") + if not automatically_update_models: + return + + model_sizes = self.fetch_all_model_sizes(repo_url) + if not model_sizes: + print("No model size data available. Skipping model checks") + return + + for model in available_models: + model_path = MODELS_PATH / f"{model}.thneed" + expected_size = model_sizes.get(model) + + if expected_size is None: + print(f"Size data for {model} not available.") + continue + + if model_path.is_file(): + local_size = model_path.stat().st_size + if local_size == expected_size: + continue + print(f"Model {model} is outdated. Deleting...") + delete_file(model_path) + + self.download_all_models() + + def update_model_params(self, model_info, repo_url): + available_models = [] + for model in model_info: + available_models.append(model['id']) + + params.put("AvailableModels", ",".join(available_models)) + params.put("AvailableModelNames", ",".join([model['name'] for model in model_info])) + params.put("ExperimentalModels", ",".join([model['id'] for model in model_info if model.get("experimental", False)])) + params.put("ModelVersions", ",".join([model['version'] for model in model_info if model.get("version", "v0")])) + print("Models list updated successfully") + + return available_models + + def update_models(self, boot_run=False): + if self.downloading_model: + return + + if boot_run: + self.copy_default_model() + + repo_url = get_repository_url() + if repo_url is None: + print("GitHub and GitLab are offline...") + return + + model_info = self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json") + if model_info: + available_models = self.update_model_params(model_info, repo_url) + self.check_models(available_models, boot_run, repo_url) + + def queue_model_download(self, model, model_name=None): + while params_memory.get(MODEL_DOWNLOAD_PARAM, encoding='utf-8'): + time.sleep(1) + + params_memory.put(MODEL_DOWNLOAD_PARAM, model) + if model_name: + params_memory.put(DOWNLOAD_PROGRESS_PARAM, f"Downloading \"{model_name}\"...") + + def download_all_models(self): + repo_url = get_repository_url() + if not repo_url: + handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + return + + model_info = self.fetch_models(f"{repo_url}/Versions/model_names_{VERSION}.json") + if model_info: + available_models = [model["id"] for model in model_info] + available_model_names = [re.sub(r'[🗺️👀📡]', '', model["name"]).strip() for model in model_info] + for model_id, model_name in zip(available_models, available_model_names): + model_path = MODELS_PATH / f"{model_id}.thneed" + if not model_path.is_file(): + print(f"Model {model_id} does not exist. Preparing to download...") + + if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM): + handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + return + + self.queue_model_download(model_id, model_name) + + while not all((MODELS_PATH / f"{model}.thneed").is_file() for model in available_models): + if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM): + handle_error(None, "Download cancelled...", "Download cancelled...", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + return + time.sleep(1) + + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "All models downloaded!") + else: + handle_error(None, "Unable to fetch models...", "Model list unavailable", MODEL_DOWNLOAD_PARAM, DOWNLOAD_PROGRESS_PARAM, params_memory) + return diff --git a/selfdrive/frogpilot/assets/model_metadata/supercombo_metadata_v1.pkl b/selfdrive/frogpilot/assets/model_metadata/supercombo_metadata_v1.pkl new file mode 100644 index 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mode 100644 index 000000000..3f09a35a7 Binary files /dev/null and b/selfdrive/frogpilot/assets/stock_theme/steering_wheel/wheel.png differ diff --git a/selfdrive/frogpilot/assets/theme_manager.py b/selfdrive/frogpilot/assets/theme_manager.py new file mode 100644 index 000000000..c4ee68390 --- /dev/null +++ b/selfdrive/frogpilot/assets/theme_manager.py @@ -0,0 +1,434 @@ +#!/usr/bin/env python3 +import glob +import json +import requests +import shutil + +from datetime import date, timedelta +from dateutil import easter +from pathlib import Path + +from openpilot.selfdrive.frogpilot.assets.download_functions import GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, verify_download +from openpilot.selfdrive.frogpilot.frogpilot_utilities import delete_file, extract_zip +from openpilot.selfdrive.frogpilot.frogpilot_variables import ACTIVE_THEME_PATH, RANDOM_EVENTS_PATH, THEME_SAVE_PATH, params, params_memory, update_frogpilot_toggles + +CANCEL_DOWNLOAD_PARAM = "CancelThemeDownload" +DOWNLOAD_PROGRESS_PARAM = "ThemeDownloadProgress" + +HOLIDAY_THEME_PATH = Path(__file__).parent / "holiday_themes" +STOCKOP_THEME_PATH = Path(__file__).parent / "stock_theme" + +def update_theme_asset(asset_type, theme, holiday_theme): + save_location = ACTIVE_THEME_PATH / asset_type + + if holiday_theme != "stock": + asset_location = HOLIDAY_THEME_PATH / holiday_theme / asset_type + else: + asset_location = THEME_SAVE_PATH / "theme_packs" / theme / asset_type + + if not asset_location.exists() or theme == "stock": + if asset_type == "colors": + params.put_bool("UseStockColors", True) + print("Using the stock color scheme instead") + return + elif (STOCKOP_THEME_PATH / asset_type).is_dir(): + asset_location = STOCKOP_THEME_PATH / asset_type + print(f"Using the stock {asset_type[:-1]} instead") + else: + if save_location.exists() or save_location.is_symlink(): + if save_location.is_symlink() or save_location.is_file(): + save_location.unlink() + elif save_location.is_dir(): + shutil.rmtree(save_location) + print(f"Using the stock {asset_type[:-1]} instead") + return + elif asset_type == "colors": + params.put_bool("UseStockColors", False) + + if save_location.exists() or save_location.is_symlink(): + if save_location.is_symlink() or save_location.is_file(): + save_location.unlink() + elif save_location.is_dir(): + shutil.rmtree(save_location) + + save_location.parent.mkdir(parents=True, exist_ok=True) + save_location.symlink_to(asset_location, target_is_directory=True) + print(f"Linked {save_location} to {asset_location}") + +def update_wheel_image(image, holiday_theme="stock", random_event=True): + wheel_save_location = ACTIVE_THEME_PATH / "steering_wheel" + + if holiday_theme != "stock": + wheel_location = HOLIDAY_THEME_PATH / holiday_theme / "steering_wheel" + elif random_event: + wheel_location = RANDOM_EVENTS_PATH / "steering_wheels" + elif image == "stock": + wheel_location = STOCKOP_THEME_PATH / "steering_wheel" + else: + wheel_location = THEME_SAVE_PATH / "steering_wheels" + + if not wheel_location.exists(): + wheel_location = STOCKOP_THEME_PATH / "steering_wheel" + print("Using the stock steering wheel instead") + + if wheel_save_location.exists(): + if wheel_save_location.is_symlink(): + wheel_save_location.unlink() + elif wheel_save_location.is_dir(): + shutil.rmtree(wheel_save_location) + + wheel_save_location.mkdir(parents=True, exist_ok=True) + + image_name = image.replace(" ", "_").lower() + matching_files = [images for images in wheel_location.iterdir() if images.stem.lower() in {image_name, "wheel"}] + if matching_files: + source_file = matching_files[0] + destination_file = wheel_save_location / f"wheel{source_file.suffix}" + + if destination_file.exists(): + destination_file.unlink() + destination_file.symlink_to(source_file) + print(f"Linked {destination_file} to {source_file}") + + +class ThemeManager: + def __init__(self): + self.downloading_theme = False + + self.theme_assets = { + "holiday_theme": "stock", + "color_scheme": "stock", + "distance_icons": "stock", + "icon_pack": "stock", + "sound_pack": "stock", + "turn_signal_pack": "stock", + "wheel_image": "stock" + } + + @staticmethod + def calculate_thanksgiving(year): + november_first = date(year, 11, 1) + days_to_thursday = (3 - november_first.weekday()) % 7 + first_thursday = november_first + timedelta(days=days_to_thursday) + thanksgiving_date = first_thursday + timedelta(days=21) + return thanksgiving_date + + @staticmethod + def is_within_week_of(target_date, current_date): + start_of_week = target_date - timedelta(days=target_date.weekday()) + return start_of_week <= current_date < target_date + + def update_holiday(self): + current_date = date.today() + year = current_date.year + + holidays = { + "new_years": date(year, 1, 1), + "valentines": date(year, 2, 14), + "st_patricks": date(year, 3, 17), + "world_frog_day": date(year, 3, 20), + "april_fools": date(year, 4, 1), + "easter_week": easter.easter(year), + "may_the_fourth": date(year, 5, 4), + "cinco_de_mayo": date(year, 5, 5), + "fourth_of_july": date(year, 7, 4), + "halloween_week": date(year, 10, 31), + "thanksgiving_week": self.calculate_thanksgiving(year), + "christmas_week": date(year, 12, 21) + } + + for holiday, holiday_date in holidays.items(): + if (holiday.endswith("_week") and self.is_within_week_of(holiday_date, current_date)) or (current_date == holiday_date): + if holiday != self.theme_assets.get("holiday_theme"): + self.theme_assets["holiday_theme"] = holiday + return + + self.theme_assets["holiday_theme"] = "stock" + + def update_active_theme(self, time_validated, frogpilot_toggles, boot_run=False): + if time_validated and frogpilot_toggles.holiday_themes: + self.update_holiday() + else: + self.theme_assets["holiday_theme"] = "stock" + + if self.theme_assets.get("holiday_theme") != "stock": + asset_mappings = { + "color_scheme": ("colors", self.theme_assets.get("holiday_theme")), + "distance_icons": ("distance_icons", self.theme_assets.get("holiday_theme")), + "icon_pack": ("icons", self.theme_assets.get("holiday_theme")), + "sound_pack": ("sounds", self.theme_assets.get("holiday_theme")), + "turn_signal_pack": ("signals", self.theme_assets.get("holiday_theme")), + "wheel_image": ("wheel_image", self.theme_assets.get("holiday_theme")) + } + else: + asset_mappings = { + "color_scheme": ("colors", frogpilot_toggles.color_scheme), + "distance_icons": ("distance_icons", frogpilot_toggles.distance_icons), + "icon_pack": ("icons", frogpilot_toggles.icon_pack), + "sound_pack": ("sounds", frogpilot_toggles.sound_pack), + "turn_signal_pack": ("signals", frogpilot_toggles.signal_icons), + "wheel_image": ("wheel_image", frogpilot_toggles.wheel_image) + } + + theme_updated = False + for asset, (asset_type, current_value) in asset_mappings.items(): + if current_value != self.theme_assets.get(asset) or boot_run: + print(f"Updating {asset}: {asset_type} with value {current_value}") + + if asset_type == "wheel_image": + update_wheel_image(current_value, self.theme_assets.get("holiday_theme"), random_event=False) + else: + update_theme_asset(asset_type, current_value, self.theme_assets.get("holiday_theme")) + + self.theme_assets[asset] = current_value + theme_updated = True + + return theme_updated + + @staticmethod + def handle_verification_failure(ext, theme_component, theme_name, theme_param, theme_path, download_path): + if theme_component == "steering_wheels": + download_link = f"{GITLAB_URL}/Steering-Wheels/{theme_name}" + else: + download_link = f"{GITLAB_URL}/Themes/{theme_name}/{theme_component}" + + if theme_path.is_file(): + delete_file(theme_path) + + theme_url = download_link + ext + print(f"Downloading theme from GitLab: {theme_name}") + download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, params_memory) + + if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM): + handle_error(None, "Download cancelled...", "Download cancelled...", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_theme = False + return + + if verify_download(theme_path, theme_url): + print(f"Theme {theme_name} downloaded and verified successfully from GitLab!") + if ext == ".zip": + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...") + extract_zip(theme_path, download_path) + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!") + return True + else: + return False + + def download_theme(self, theme_component, theme_name, theme_param): + self.downloading_theme = True + + repo_url = get_repository_url() + if not repo_url: + handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_theme = False + return + + if theme_component == "steering_wheels": + download_link = f"{repo_url}/Steering-Wheels/{theme_name}" + download_path = THEME_SAVE_PATH / theme_component / theme_name + extensions = [".gif", ".png"] + else: + download_link = f"{repo_url}/Themes/{theme_name}/{theme_component}" + download_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component + extensions = [".zip"] + + for ext in extensions: + theme_path = download_path.with_suffix(ext) + if theme_path.is_file(): + delete_file(theme_path) + + theme_url = download_link + ext + print(f"Downloading theme from GitHub: {theme_name}") + download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, params_memory) + + if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM): + handle_error(None, "Download cancelled...", "Download cancelled...", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_theme = False + return + + if verify_download(theme_path, theme_url): + print(f"Theme {theme_name} downloaded and verified successfully from GitHub!") + if ext == ".zip": + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...") + extract_zip(theme_path, download_path) + params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!") + self.downloading_theme = False + return + elif self.handle_verification_failure(ext, theme_component, theme_name, theme_param, theme_path, download_path): + self.downloading_theme = False + return + + handle_error(download_path, "Download failed...", "Download failed...", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory) + self.downloading_theme = False + + @staticmethod + def fetch_assets(repo_url): + repo = "FrogAi/FrogPilot-Resources" + branches = ["Distance-Icons", "Steering-Wheels", "Themes"] + + assets = { + "themes": {}, + "wheels": [] + } + + try: + for branch in branches: + if "github" in repo_url: + api_url = f"https://api.github.com/repos/{repo}/git/trees/{branch}?recursive=1" + elif "gitlab" in repo_url: + api_url = f"https://gitlab.com/api/v4/projects/{repo.replace('/', '%2F')}/repository/tree?ref={branch}&recursive=true" + else: + print(f"Unsupported repository URL: {repo_url}") + return assets + + print(f"Fetching assets from branch '{branch}': {api_url}") + response = requests.get(api_url, timeout=10) + response.raise_for_status() + content = response.json() + + if "github" in repo_url: + content = content.get('tree', []) + + for item in content: + if item["type"] != "blob": + continue + + if branch == "Steering-Wheels": + assets["wheels"].append(item["path"]) + elif branch == "Themes": + theme_name = item["path"].split('/')[0] + assets["themes"].setdefault(theme_name, set()) + + item_path = item["path"].lower() + if "colors" in item_path: + assets["themes"][theme_name].add("colors") + elif "distance_icons" in item_path: + assets["themes"][theme_name].add("distance_icons") + elif "icons" in item_path: + assets["themes"][theme_name].add("icons") + elif "signals" in item_path: + assets["themes"][theme_name].add("signals") + elif "sounds" in item_path: + assets["themes"][theme_name].add("sounds") + + return {**assets, "themes": {k: list(v) for k, v in assets["themes"].items()}} + except requests.exceptions.RequestException as error: + handle_request_error(f"Failed to fetch theme sizes from {'GitHub' if 'github' in repo_url else 'GitLab'}: {error}", None, None, None, None) + return {} + + def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels): + def update_param(key, assets, subfolder): + if subfolder == "steering_wheels": + themes_path = THEME_SAVE_PATH / subfolder + existing_assets = {item.stem.replace('_', ' ').title() for item in themes_path.glob("*") if item.is_file()} + else: + themes_path = THEME_SAVE_PATH / "theme_packs" + existing_assets = {item.parent.name.replace('_', ' ').title() for item in themes_path.glob(f"*/{subfolder}") if item.is_dir()} + params.put(key, ",".join(sorted(set(assets) - existing_assets))) + print(f"{key} updated successfully") + + update_param("DownloadableColors", downloadable_colors, "colors") + update_param("DownloadableDistanceIcons", downloadable_distance_icons, "distance_icons") + update_param("DownloadableIcons", downloadable_icons, "icons") + update_param("DownloadableSignals", downloadable_signals, "signals") + update_param("DownloadableSounds", downloadable_sounds, "sounds") + update_param("DownloadableWheels", downloadable_wheels, "steering_wheels") + + def validate_themes(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles): + asset_mappings = { + "CustomColors": ("colors", frogpilot_toggles.color_scheme, downloadable_colors), + "CustomDistanceIcons": ("distance_icons", frogpilot_toggles.distance_icons, downloadable_distance_icons), + "CustomIcons": ("icons", frogpilot_toggles.icon_pack, downloadable_icons), + "CustomSounds": ("sounds", frogpilot_toggles.sound_pack, downloadable_sounds), + "CustomSignals": ("signals", frogpilot_toggles.signal_icons, downloadable_signals), + "WheelIcon": ("steering_wheels", frogpilot_toggles.wheel_image, downloadable_wheels) + } + + for theme_param, (theme_component, theme_name, downloadable_list) in asset_mappings.items(): + if not downloadable_list: + continue + + if theme_name.lower() in {"none", "stock"}: + continue + + if theme_component == "steering_wheels": + theme_path = THEME_SAVE_PATH / "steering_wheels" / theme_name + matching_files = list(theme_path.parent.glob(f"{theme_name}.*")) + if not matching_files: + print(f" {theme_name} for {theme_component} not found. Downloading...") + self.download_theme(theme_component, theme_name, theme_param) + update_frogpilot_toggles() + elif theme_name.replace('_', ' ').split('.')[0].title() not in downloadable_list: + if theme_path.exists(): + print(f"{theme_name} for {theme_component} is outdated. Deleting...") + delete_file(theme_path) + continue + else: + theme_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component + if not theme_path.exists(): + print(f" {theme_name} for {theme_component} not found. Downloading...") + self.download_theme(theme_component, theme_name, theme_param) + update_frogpilot_toggles() + elif theme_name.replace('_', ' ').split('.')[0].title() not in downloadable_list: + if theme_path.exists(): + print(f"{theme_name} for {theme_component} is outdated. Deleting...") + delete_file(theme_path) + continue + + for dir_path in THEME_SAVE_PATH.glob('**/*'): + if dir_path.is_dir() and not any(dir_path.iterdir()): + print(f"Deleting empty folder: {dir_path}") + dir_path.rmdir() + elif dir_path.is_file() and dir_path.name.startswith("tmp"): + print(f"Deleting temp file: {dir_path}") + dir_path.unlink() + + print("Theme validation complete.") + + def update_themes(self, frogpilot_toggles, boot_run=False): + if self.downloading_theme: + return + + repo_url = get_repository_url() + if repo_url is None: + print("GitHub and GitLab are offline...") + return + + assets = self.fetch_assets(repo_url) + if not assets: + return + + downloadable_colors = [] + downloadable_distance_icons = [] + downloadable_icons = [] + downloadable_signals = [] + downloadable_sounds = [] + + for theme, available_assets in assets["themes"].items(): + theme_name = theme.replace('_', ' ').split('.')[0].title() + print(f"Theme found: {theme_name}") + + if "colors" in available_assets: + downloadable_colors.append(theme_name) + if "distance_icons" in available_assets: + downloadable_distance_icons.append(theme_name) + if "icons" in available_assets: + downloadable_icons.append(theme_name) + if "signals" in available_assets: + downloadable_signals.append(theme_name) + if "sounds" in available_assets: + downloadable_sounds.append(theme_name) + + downloadable_wheels = [wheel.replace('_', ' ').split('.')[0].title() for wheel in assets["wheels"]] + + print(f"Downloadable Colors: {downloadable_colors}") + print(f"Downloadable Icons: {downloadable_icons}") + print(f"Downloadable Signals: {downloadable_signals}") + print(f"Downloadable Sounds: {downloadable_sounds}") + print(f"Downloadable Distance Icons: {downloadable_distance_icons}") + print(f"Downloadable Wheels: {downloadable_wheels}") + + if boot_run: + self.validate_themes(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles) + + self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels) diff --git a/selfdrive/frogpilot/assets/toggle_icons/frog.png b/selfdrive/frogpilot/assets/toggle_icons/frog.png new file mode 100644 index 000000000..3561616fb Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/frog.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_accessibility.png b/selfdrive/frogpilot/assets/toggle_icons/icon_accessibility.png new file mode 100644 index 000000000..cf80f5ef9 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_accessibility.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png new file mode 100644 index 000000000..f849ec132 Binary files /dev/null and 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/dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_vtc.png differ diff --git a/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png b/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png new file mode 100644 index 000000000..a01d18686 Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/quality_of_life.png differ diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py new file mode 100644 index 000000000..c827a8f4c --- /dev/null +++ b/selfdrive/frogpilot/controls/frogpilot_planner.py @@ -0,0 +1,149 @@ +#!/usr/bin/env python3 +import cereal.messaging as messaging + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_MDL + +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, DANGER_ZONE_COST, J_EGO_COST, STOP_DISTANCE +from openpilot.selfdrive.controls.lib.longitudinal_planner import Lead + +from openpilot.selfdrive.frogpilot.controls.lib.conditional_experimental_mode import ConditionalExperimentalMode +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import FrogPilotAcceleration +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_events import FrogPilotEvents +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_following import FrogPilotFollowing +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_vcruise import FrogPilotVCruise +from openpilot.selfdrive.frogpilot.frogpilot_utilities import calculate_lane_width, calculate_road_curvature +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, MODEL_LENGTH, NON_DRIVING_GEARS, PLANNER_TIME, THRESHOLD + +class FrogPilotPlanner: + def __init__(self, error_log): + self.error_log = error_log + + self.cem = ConditionalExperimentalMode(self) + self.frogpilot_acceleration = FrogPilotAcceleration(self) + self.frogpilot_events = FrogPilotEvents(self) + self.frogpilot_following = FrogPilotFollowing(self) + self.frogpilot_vcruise = FrogPilotVCruise(self) + self.lead_one = Lead() + + self.tracking_lead_filter = FirstOrderFilter(0, 1, DT_MDL) + + self.lateral_check = False + self.model_stopped = False + self.road_curvature_detected = False + self.slower_lead = False + self.tracking_lead = False + + self.model_length = 0 + self.road_curvature = 1 + self.v_cruise = 0 + + def update(self, carControl, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, radarless_model, radarState, frogpilot_toggles): + if radarless_model: + model_leads = list(modelData.leadsV3) + if len(model_leads) > 0: + distance_offset = frogpilot_toggles.increased_stopped_distance if not frogpilotCarState.trafficModeActive else 0 + model_lead = model_leads[0] + self.lead_one.update(model_lead.x[0] - distance_offset, model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob) + else: + self.lead_one.reset() + else: + self.lead_one = radarState.leadOne + + v_cruise = min(controlsState.vCruise, V_CRUISE_UNSET) * CV.KPH_TO_MS + v_ego = max(carState.vEgo, 0) + v_lead = self.lead_one.vLead + + self.frogpilot_acceleration.update(frogpilotCarState, v_ego, frogpilot_toggles) + + run_cem = frogpilot_toggles.conditional_experimental_mode or frogpilot_toggles.force_stops or frogpilot_toggles.green_light_alert or frogpilot_toggles.show_stopping_point + if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive) and carState.gearShifter not in NON_DRIVING_GEARS: + self.cem.update(carState, frogpilotCarState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles) + else: + self.cem.stop_light_detected = False + + self.frogpilot_events.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, self.lead_one.dRel, modelData, v_lead, frogpilot_toggles) + self.frogpilot_following.update(carState.aEgo, controlsState, frogpilotCarState, self.lead_one.dRel, v_ego, v_lead, frogpilot_toggles) + + check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection + if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed or frogpilot_toggles.adjacent_lead_tracking: + self.lane_width_left = calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0]) + self.lane_width_right = calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1]) + else: + self.lane_width_left = 0 + self.lane_width_right = 0 + + self.lateral_check = v_ego >= frogpilot_toggles.pause_lateral_below_speed + self.lateral_check |= frogpilot_toggles.pause_lateral_below_signal and not (carState.leftBlinker or carState.rightBlinker) + self.lateral_check |= carState.standstill + + self.model_length = modelData.position.x[MODEL_LENGTH - 1] + self.model_stopped = self.model_length < CRUISING_SPEED * PLANNER_TIME + self.model_stopped |= self.frogpilot_vcruise.forcing_stop + + self.road_curvature = calculate_road_curvature(modelData, v_ego) if not carState.standstill else 1 + self.road_curvature_detected = (1 / self.road_curvature)**0.5 < v_ego + + self.tracking_lead = self.set_lead_status(carState, v_lead) + self.v_cruise = self.frogpilot_vcruise.update(carControl, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, v_cruise, v_ego, frogpilot_toggles) + + def set_lead_status(self, carState, v_lead): + following_lead = self.lead_one.status + following_lead &= self.lead_one.dRel < self.model_length + STOP_DISTANCE + following_lead &= not carState.standstill or self.tracking_lead + + self.tracking_lead_filter.update(following_lead) + return self.tracking_lead_filter.x >= THRESHOLD**2 + + def publish(self, sm, pm, toggles_updated): + frogpilot_plan_send = messaging.new_message('frogpilotPlan') + frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState']) + frogpilotPlan = frogpilot_plan_send.frogpilotPlan + + frogpilotPlan.accelerationJerk = float(A_CHANGE_COST * self.frogpilot_following.acceleration_jerk) + frogpilotPlan.accelerationJerkStock = float(A_CHANGE_COST * self.frogpilot_following.base_acceleration_jerk) + frogpilotPlan.dangerJerk = float(DANGER_ZONE_COST * self.frogpilot_following.danger_jerk) + frogpilotPlan.speedJerk = float(J_EGO_COST * self.frogpilot_following.speed_jerk) + frogpilotPlan.speedJerkStock = float(J_EGO_COST * self.frogpilot_following.base_speed_jerk) + frogpilotPlan.tFollow = float(self.frogpilot_following.t_follow) + + frogpilotPlan.mtscSpeed = float(self.frogpilot_vcruise.mtsc_target) + frogpilotPlan.vtscControllingCurve = bool(self.frogpilot_vcruise.mtsc_target > self.frogpilot_vcruise.vtsc_target) + frogpilotPlan.vtscSpeed = float(self.frogpilot_vcruise.vtsc_target) + + frogpilotPlan.desiredFollowDistance = self.frogpilot_following.desired_follow_distance + + frogpilotPlan.experimentalMode = self.cem.experimental_mode or self.frogpilot_vcruise.slc.experimental_mode + + frogpilotPlan.forcingStop = self.frogpilot_vcruise.forcing_stop + frogpilotPlan.forcingStopLength = self.frogpilot_vcruise.tracked_model_length + + frogpilotPlan.frogpilotEvents = self.frogpilot_events.events.to_msg() + + frogpilotPlan.laneWidthLeft = self.lane_width_left + frogpilotPlan.laneWidthRight = self.lane_width_right + + frogpilotPlan.lateralCheck = self.lateral_check + + frogpilotPlan.maxAcceleration = float(self.frogpilot_acceleration.max_accel) + frogpilotPlan.minAcceleration = float(self.frogpilot_acceleration.min_accel) + + frogpilotPlan.redLight = bool(self.cem.stop_light_detected) + + frogpilotPlan.slcMapSpeedLimit = self.frogpilot_vcruise.slc.map_speed_limit + frogpilotPlan.slcOverridden = bool(self.frogpilot_vcruise.override_slc) + frogpilotPlan.slcOverriddenSpeed = float(self.frogpilot_vcruise.overridden_speed) + frogpilotPlan.slcSpeedLimit = self.frogpilot_vcruise.slc_target + frogpilotPlan.slcSpeedLimitOffset = self.frogpilot_vcruise.slc_offset + frogpilotPlan.slcSpeedLimitSource = self.frogpilot_vcruise.slc.source + frogpilotPlan.speedLimitChanged = self.frogpilot_vcruise.slc.speed_limit_changed + frogpilotPlan.unconfirmedSlcSpeedLimit = self.frogpilot_vcruise.slc.desired_speed_limit + frogpilotPlan.upcomingSLCSpeedLimit = self.frogpilot_vcruise.slc.upcoming_speed_limit + + frogpilotPlan.togglesUpdated = toggles_updated + + frogpilotPlan.vCruise = self.v_cruise + + pm.send('frogpilotPlan', frogpilot_plan_send) diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py new file mode 100644 index 000000000..2aa6023da --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py @@ -0,0 +1,100 @@ +#!/usr/bin/env python3 +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_MDL + +from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD, params_memory + +class ConditionalExperimentalMode: + def __init__(self, FrogPilotPlanner): + self.frogpilot_planner = FrogPilotPlanner + + self.curvature_filter = FirstOrderFilter(0, 1, DT_MDL) + self.slow_lead_filter = FirstOrderFilter(0, 1, DT_MDL) + self.stop_light_filter = FirstOrderFilter(0, 1, DT_MDL) + + self.curve_detected = False + self.experimental_mode = False + self.stop_light_detected = False + + def update(self, carState, frogpilotCarState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles): + self.status_value = params_memory.get_int("CEStatus") + + if self.status_value not in {1, 2, 3, 4, 5, 6} and not carState.standstill: + self.update_conditions(frogpilotCarState, self.frogpilot_planner.tracking_lead, v_ego, v_lead, frogpilot_toggles) + self.experimental_mode = self.check_conditions(carState, frogpilotNavigation, modelData, self.frogpilot_planner.frogpilot_following.following_lead, v_ego, v_lead, frogpilot_toggles) + params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0) + else: + self.experimental_mode = self.status_value in {2, 4, 6} or carState.standstill and self.experimental_mode and self.frogpilot_planner.model_stopped + self.stop_light_detected &= self.status_value not in {1, 2, 3, 4, 5, 6} + self.stop_light_filter.x = 0 + + def check_conditions(self, carState, frogpilotNavigation, modelData, following_lead, v_ego, v_lead, frogpilot_toggles): + below_speed = frogpilot_toggles.conditional_limit > v_ego >= 1 and not following_lead + below_speed_with_lead = frogpilot_toggles.conditional_limit_lead > v_ego >= 1 and following_lead + if below_speed or below_speed_with_lead: + self.status_value = 7 if following_lead else 8 + return True + + desired_lane = self.frogpilot_planner.lane_width_left if carState.leftBlinker else self.frogpilot_planner.lane_width_right + lane_available = desired_lane >= frogpilot_toggles.lane_detection_width or not frogpilot_toggles.conditional_signal_lane_detection + if v_ego < frogpilot_toggles.conditional_signal and (carState.leftBlinker or carState.rightBlinker) and not lane_available: + self.status_value = 9 + return True + + approaching_maneuver = modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn) + if frogpilot_toggles.conditional_navigation and approaching_maneuver and (frogpilot_toggles.conditional_navigation_lead or not following_lead): + self.status_value = 10 if frogpilotNavigation.approachingIntersection else 11 + return True + + if frogpilot_toggles.conditional_curves and self.curve_detected and (frogpilot_toggles.conditional_curves_lead or not following_lead): + self.status_value = 12 + return True + + if frogpilot_toggles.conditional_lead and self.slow_lead_detected: + self.status_value = 13 if v_lead < 1 else 14 + return True + + if frogpilot_toggles.conditional_model_stop_time != 0 and self.stop_light_detected: + self.status_value = 15 if not self.frogpilot_planner.frogpilot_vcruise.forcing_stop else 16 + return True + + if self.frogpilot_planner.frogpilot_vcruise.slc.experimental_mode: + self.status_value = 17 + return True + + return False + + def update_conditions(self, frogpilotCarState, tracking_lead, v_ego, v_lead, frogpilot_toggles): + self.curve_detection(tracking_lead, v_ego, frogpilot_toggles) + self.slow_lead(tracking_lead, v_lead, frogpilot_toggles) + self.stop_sign_and_light(frogpilotCarState, tracking_lead, v_ego, frogpilot_toggles) + + def curve_detection(self, tracking_lead, v_ego, frogpilot_toggles): + if v_ego > CRUISING_SPEED: + curve_active = self.curve_detected and (0.9 / self.frogpilot_planner.road_curvature)**0.5 < v_ego + + self.curvature_filter.update(self.frogpilot_planner.road_curvature_detected or curve_active) + self.curve_detected = self.curvature_filter.x >= THRESHOLD + else: + self.curvature_filter.x = 0 + self.curve_detected = False + + def slow_lead(self, tracking_lead, v_lead, frogpilot_toggles): + if tracking_lead: + slower_lead = frogpilot_toggles.conditional_slower_lead and self.frogpilot_planner.frogpilot_following.slower_lead + stopped_lead = frogpilot_toggles.conditional_stopped_lead and v_lead < 1 + + self.slow_lead_detected = self.slow_lead_filter.update(1 if slower_lead or stopped_lead else 0) >= THRESHOLD + else: + self.slow_lead_filter.update(0) + self.slow_lead_detected = False + + def stop_sign_and_light(self, frogpilotCarState, tracking_lead, v_ego, frogpilot_toggles): + if not (self.curve_detected or tracking_lead or frogpilotCarState.trafficModeActive): + model_stopping = self.frogpilot_planner.model_length < v_ego * frogpilot_toggles.conditional_model_stop_time + + self.stop_light_filter.update(self.frogpilot_planner.model_stopped or model_stopping) + self.stop_light_detected = self.stop_light_filter.x >= THRESHOLD**2 + else: + self.stop_light_filter.x = 0 + self.stop_light_detected = False diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py b/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py new file mode 100644 index 000000000..2c448018f --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py @@ -0,0 +1,83 @@ +#!/usr/bin/env python3 +from openpilot.common.numpy_fast import clip, interp + +from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel + +from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT + +A_CRUISE_MIN_ECO = A_CRUISE_MIN / 2 +A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2 + + # MPH = [0.0, 11, 22, 34, 45, 56, 89] +A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.] +A_CRUISE_MAX_VALS_ECO = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2] +A_CRUISE_MAX_VALS_SPORT = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6] +A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] + +def get_max_accel_eco(v_ego): + return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO) + +def get_max_accel_sport(v_ego): + return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT) + +def get_max_accel_sport_plus(v_ego): + return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS) + +def get_max_accel_low_speeds(max_accel, v_cruise): + return interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]) + +def get_max_accel_ramp_off(max_accel, v_cruise, v_ego): + return interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]) + +def get_max_allowed_accel(v_ego): + return interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]) # ISO 15622:2018 + +class FrogPilotAcceleration: + def __init__(self, FrogPilotPlanner): + self.frogpilot_planner = FrogPilotPlanner + + self.max_accel = 0 + self.min_accel = 0 + + def update(self, frogpilotCarState, v_ego, frogpilot_toggles): + eco_gear = frogpilotCarState.ecoGear + sport_gear = frogpilotCarState.sportGear + + if frogpilotCarState.trafficModeActive: + self.max_accel = get_max_accel(v_ego) + elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear): + if eco_gear: + self.max_accel = get_max_accel_eco(v_ego) + else: + if frogpilot_toggles.acceleration_profile == 3: + self.max_accel = get_max_accel_sport_plus(v_ego) + else: + self.max_accel = get_max_accel_sport(v_ego) + else: + if frogpilot_toggles.acceleration_profile == 1: + self.max_accel = get_max_accel_eco(v_ego) + elif frogpilot_toggles.acceleration_profile == 2: + self.max_accel = get_max_accel_sport(v_ego) + elif frogpilot_toggles.acceleration_profile == 3: + self.max_accel = get_max_accel_sport_plus(v_ego) + else: + self.max_accel = get_max_accel(v_ego) + + if frogpilot_toggles.human_acceleration: + if self.frogpilot_planner.frogpilot_following.following_lead and not frogpilotCarState.trafficModeActive: + self.max_accel = clip(self.frogpilot_planner.lead_one.aLeadK, get_max_accel_sport_plus(v_ego), get_max_allowed_accel(v_ego)) + self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel) + self.max_accel = min(get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego), self.max_accel) + + if frogpilot_toggles.map_deceleration and (eco_gear or sport_gear): + if eco_gear: + self.min_accel = A_CRUISE_MIN_ECO + else: + self.min_accel = A_CRUISE_MIN_SPORT + else: + if frogpilot_toggles.deceleration_profile == 1: + self.min_accel = A_CRUISE_MIN_ECO + elif frogpilot_toggles.deceleration_profile == 2: + self.min_accel = A_CRUISE_MIN_SPORT + else: + self.min_accel = A_CRUISE_MIN diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_events.py b/selfdrive/frogpilot/controls/lib/frogpilot_events.py new file mode 100644 index 000000000..903ddaa55 --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/frogpilot_events.py @@ -0,0 +1,202 @@ +#!/usr/bin/env python3 +import random + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.controls.controlsd import Desire +from openpilot.selfdrive.controls.lib.events import EventName, Events + +from openpilot.selfdrive.frogpilot.assets.theme_manager import update_wheel_image +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, params, params_memory + +RANDOM_EVENTS_CHANCE = 0.01 * DT_MDL + +class FrogPilotEvents: + def __init__(self, FrogPilotPlanner): + self.frogpilot_planner = FrogPilotPlanner + + self.events = Events() + + self.accel30_played = False + self.accel35_played = False + self.accel40_played = False + self.always_on_lateral_active_previously = False + self.dejaVu_played = False + self.fcw_played = False + self.firefox_played = False + self.goat_played = False + self.holiday_theme_played = False + self.no_entry_alert_played = False + self.openpilot_crashed_played = False + self.previous_traffic_mode = False + self.random_event_played = False + self.stopped_for_light = False + self.this_is_fine_played = False + self.vCruise69_played = False + self.youveGotMail_played = False + + self.frame = 0 + self.holiday_theme_frame = 0 + self.max_acceleration = 0 + self.random_event_timer = 0 + self.tracking_lead_distance = 0 + + def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, lead_distance, modelData, v_lead, frogpilot_toggles): + self.events.clear() + + if self.random_event_played: + self.random_event_timer += DT_MDL + if self.random_event_timer >= 4: + update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False) + params_memory.put_bool("UpdateWheelImage", True) + self.random_event_played = False + self.random_event_timer = 0 + + if self.frogpilot_planner.frogpilot_vcruise.forcing_stop: + self.events.add(EventName.forcingStop) + + if frogpilot_toggles.green_light_alert and not self.frogpilot_planner.tracking_lead and carState.standstill: + if not self.frogpilot_planner.model_stopped and self.stopped_for_light: + self.events.add(EventName.greenLight) + self.stopped_for_light = self.frogpilot_planner.cem.stop_light_detected + else: + self.stopped_for_light = False + + if not self.holiday_theme_played and frogpilot_toggles.current_holiday_theme != "stock" and self.frame >= 10: + if self.holiday_theme_frame >= 1: + self.events.add(EventName.holidayActive) + self.holiday_theme_played = True + self.holiday_theme_frame += DT_MDL + + if frogpilot_toggles.lead_departing_alert and self.frogpilot_planner.tracking_lead and carState.standstill: + if self.tracking_lead_distance == 0: + self.tracking_lead_distance = lead_distance + + lead_departing = lead_distance - self.tracking_lead_distance > 1 + lead_departing &= v_lead > 1 + + if lead_departing: + self.events.add(EventName.leadDeparting) + else: + self.tracking_lead_distance = 0 + + if not self.openpilot_crashed_played and self.frogpilot_planner.error_log.is_file(): + if frogpilot_toggles.random_events: + self.events.add(EventName.openpilotCrashedRandomEvent) + else: + self.events.add(EventName.openpilotCrashed) + self.openpilot_crashed_played = True + + if not self.random_event_played and frogpilot_toggles.random_events: + acceleration = carState.aEgo + + if not carState.gasPressed: + self.max_acceleration = max(acceleration, self.max_acceleration) + else: + self.max_acceleration = 0 + + if not self.accel30_played and 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5: + self.events.add(EventName.accel30) + update_wheel_image("weeb_wheel") + params_memory.put_bool("UpdateWheelImage", True) + self.accel30_played = True + self.random_event_played = True + self.max_acceleration = 0 + + elif not self.accel35_played and 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5: + self.events.add(EventName.accel35) + update_wheel_image("tree_fiddy") + params_memory.put_bool("UpdateWheelImage", True) + self.accel35_played = True + self.random_event_played = True + self.max_acceleration = 0 + + elif not self.accel40_played and self.max_acceleration >= 4.0 and acceleration < 1.5: + self.events.add(EventName.accel40) + update_wheel_image("great_scott") + params_memory.put_bool("UpdateWheelImage", True) + self.accel40_played = True + self.random_event_played = True + self.max_acceleration = 0 + + if not self.dejaVu_played and carState.vEgo > CRUISING_SPEED * 2: + if carState.vEgo > (1 / self.frogpilot_planner.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30: + self.events.add(EventName.dejaVuCurve) + self.dejaVu_played = True + self.random_event_played = True + + if not self.no_entry_alert_played and frogpilotCarControl.noEntryEventTriggered: + self.events.add(EventName.hal9000) + self.no_entry_alert_played = True + self.random_event_played = True + + if frogpilotCarControl.steerSaturatedEventTriggered: + event_choices = [] + if not self.firefox_played: + event_choices.append("firefoxSteerSaturated") + if not self.goat_played: + event_choices.append("goatSteerSaturated") + if not self.this_is_fine_played: + event_choices.append("thisIsFineSteerSaturated") + + if random.random() < RANDOM_EVENTS_CHANCE and event_choices: + event_choice = random.choice(event_choices) + if event_choice == "firefoxSteerSaturated": + self.events.add(EventName.firefoxSteerSaturated) + update_wheel_image("firefox") + params_memory.put_bool("UpdateWheelImage", True) + self.firefox_played = True + elif event_choice == "goatSteerSaturated": + self.events.add(EventName.goatSteerSaturated) + update_wheel_image("goat") + params_memory.put_bool("UpdateWheelImage", True) + self.goat_played = True + elif event_choice == "thisIsFineSteerSaturated": + self.events.add(EventName.thisIsFineSteerSaturated) + update_wheel_image("this_is_fine") + params_memory.put_bool("UpdateWheelImage", True) + self.this_is_fine_played = True + self.random_event_played = True + + if not self.vCruise69_played and 70 > max(controlsState.vCruise, controlsState.vCruiseCluster) * (1 if frogpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69: + self.events.add(EventName.vCruise69) + self.vCruise69_played = True + self.random_event_played = True + + if not self.fcw_played and frogpilotCarControl.fcwEventTriggered: + event_choices = ["toBeContinued", "yourFrogTriedToKillMe"] + if random.random() < RANDOM_EVENTS_CHANCE: + event_choice = random.choice(event_choices) + if event_choice == "toBeContinued": + self.events.add(EventName.toBeContinued) + elif event_choice == "yourFrogTriedToKillMe": + self.events.add(EventName.yourFrogTriedToKillMe) + self.fcw_played = True + self.random_event_played = True + + if not self.youveGotMail_played and frogpilotCarControl.alwaysOnLateralActive and not self.always_on_lateral_active_previously: + if random.random() < RANDOM_EVENTS_CHANCE and not carState.standstill: + self.events.add(EventName.youveGotMail) + self.youveGotMail_played = True + self.random_event_played = True + self.always_on_lateral_active_previously = frogpilotCarControl.alwaysOnLateralActive + + if frogpilot_toggles.speed_limit_changed_alert and self.frogpilot_planner.frogpilot_vcruise.slc.speed_limit_changed and self.frogpilot_planner.frogpilot_vcruise.speed_limit_timer < 1: + self.events.add(EventName.speedLimitChanged) + + if 5 > self.frame > 4 and params.get("NNFFModelName", encoding='utf-8') is not None: + self.events.add(EventName.torqueNNLoad) + + if frogpilotCarState.trafficModeActive != self.previous_traffic_mode: + if self.previous_traffic_mode: + self.events.add(EventName.trafficModeInactive) + else: + self.events.add(EventName.trafficModeActive) + self.previous_traffic_mode = frogpilotCarState.trafficModeActive + + if modelData.meta.turnDirection == Desire.turnLeft: + self.events.add(EventName.turningLeft) + elif modelData.meta.turnDirection == Desire.turnRight: + self.events.add(EventName.turningRight) + + self.frame += DT_MDL diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_following.py b/selfdrive/frogpilot/controls/lib/frogpilot_following.py new file mode 100644 index 000000000..d12b13b41 --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/frogpilot_following.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python3 +from openpilot.common.numpy_fast import clip, interp +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, STOP_DISTANCE, desired_follow_distance, get_jerk_factor, get_T_FOLLOW + +from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED + +TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT] + +class FrogPilotFollowing: + def __init__(self, FrogPilotPlanner): + self.frogpilot_planner = FrogPilotPlanner + + self.following_lead = False + self.slower_lead = False + + self.acceleration_jerk = 0 + self.base_acceleration_jerk = 0 + self.base_speed_jerk = 0 + self.danger_jerk = 0 + self.desired_follow_distance = 0 + self.speed_jerk = 0 + self.t_follow = 0 + + def update(self, aEgo, controlsState, frogpilotCarState, lead_distance, v_ego, v_lead, frogpilot_toggles): + if frogpilotCarState.trafficModeActive: + if aEgo >= 0: + self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_acceleration) + self.base_speed_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_speed) + else: + self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_deceleration) + self.base_speed_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_speed_decrease) + + self.base_danger_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_danger) + self.t_follow = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_follow) + else: + if aEgo >= 0: + self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor( + frogpilot_toggles.aggressive_jerk_acceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed, + frogpilot_toggles.standard_jerk_acceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed, + frogpilot_toggles.relaxed_jerk_acceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed, + frogpilot_toggles.custom_personalities, controlsState.personality + ) + else: + self.base_acceleration_jerk, self.base_danger_jerk, self.base_speed_jerk = get_jerk_factor( + frogpilot_toggles.aggressive_jerk_deceleration, frogpilot_toggles.aggressive_jerk_danger, frogpilot_toggles.aggressive_jerk_speed_decrease, + frogpilot_toggles.standard_jerk_deceleration, frogpilot_toggles.standard_jerk_danger, frogpilot_toggles.standard_jerk_speed_decrease, + frogpilot_toggles.relaxed_jerk_deceleration, frogpilot_toggles.relaxed_jerk_danger, frogpilot_toggles.relaxed_jerk_speed_decrease, + frogpilot_toggles.custom_personalities, controlsState.personality + ) + + self.t_follow = get_T_FOLLOW( + frogpilot_toggles.aggressive_follow, + frogpilot_toggles.standard_follow, + frogpilot_toggles.relaxed_follow, + frogpilot_toggles.custom_personalities, controlsState.personality + ) + + self.acceleration_jerk = self.base_acceleration_jerk + self.danger_jerk = self.base_danger_jerk + self.speed_jerk = self.base_speed_jerk + + self.following_lead = self.frogpilot_planner.tracking_lead and lead_distance < (self.t_follow + 1) * v_ego + + if self.frogpilot_planner.tracking_lead: + self.update_follow_values(lead_distance, v_ego, v_lead, frogpilot_toggles) + self.desired_follow_distance = int(desired_follow_distance(v_ego, v_lead, self.t_follow)) + else: + self.desired_follow_distance = 0 + + def update_follow_values(self, lead_distance, v_ego, v_lead, frogpilot_toggles): + # Offset by FrogAi for FrogPilot for a more natural approach to a faster lead + if frogpilot_toggles.human_following and v_lead > v_ego: + distance_factor = max(lead_distance - (v_ego * self.t_follow), 1) + standstill_offset = max(STOP_DISTANCE - v_ego, 1) + acceleration_offset = clip((v_lead - v_ego) * standstill_offset - COMFORT_BRAKE, 1, distance_factor) + self.acceleration_jerk /= acceleration_offset + self.speed_jerk /= acceleration_offset + self.t_follow /= acceleration_offset + + # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead + if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.human_following) and v_lead < v_ego > CRUISING_SPEED: + distance_factor = max(lead_distance - (v_lead * self.t_follow), 1) + far_lead_offset = max(v_lead - CITY_SPEED_LIMIT, 1) + braking_offset = clip(min(v_ego - v_lead, v_lead) * far_lead_offset - COMFORT_BRAKE, 1, distance_factor) + if frogpilot_toggles.human_following: + self.t_follow /= braking_offset + self.slower_lead = braking_offset / far_lead_offset > 1 diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py b/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py new file mode 100644 index 000000000..94938df16 --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL + +class FrogPilotTracking: + def __init__(self): + self.params_tracking = Params("/persist/tracking") + + self.total_drives = self.params_tracking.get_int("FrogPilotDrives") + self.total_kilometers = self.params_tracking.get_float("FrogPilotKilometers") + self.total_minutes = self.params_tracking.get_float("FrogPilotMinutes") + + self.drive_added = False + self.enabled = False + + self.drive_distance = 0 + self.drive_time = 0 + + def update(self, carState, controlsState, frogpilotCarControl): + self.enabled |= controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive + + self.drive_distance += carState.vEgo * DT_MDL + self.drive_time += DT_MDL + + if self.drive_time > 60 and carState.standstill and self.enabled: + self.total_kilometers += self.drive_distance / 1000 + self.params_tracking.put_float_nonblocking("FrogPilotKilometers", self.total_kilometers) + self.drive_distance = 0 + + self.total_minutes += self.drive_time / 60 + self.params_tracking.put_float_nonblocking("FrogPilotMinutes", self.total_minutes) + self.drive_time = 0 + + if not self.drive_added: + self.total_drives += 1 + self.params_tracking.put_int_nonblocking("FrogPilotDrives", self.total_drives) + self.drive_added = True diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py b/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py new file mode 100644 index 000000000..02d65cdcf --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py @@ -0,0 +1,166 @@ +#!/usr/bin/env python3 +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_MDL + +from openpilot.selfdrive.controls.controlsd import ButtonType +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET + +from openpilot.selfdrive.frogpilot.controls.lib.map_turn_speed_controller import MapTurnSpeedController +from openpilot.selfdrive.frogpilot.controls.lib.smart_turn_speed_controller import SmartTurnSpeedController +from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME, params_memory + +TARGET_LAT_A = 2.0 + +class FrogPilotVCruise: + def __init__(self, FrogPilotPlanner): + self.frogpilot_planner = FrogPilotPlanner + + self.mtsc = MapTurnSpeedController() + self.slc = SpeedLimitController() + self.stsc = SmartTurnSpeedController(self) + + self.forcing_stop = False + self.override_force_stop = False + self.override_slc = False + + self.force_stop_timer = 0 + self.mtsc_target = 0 + self.overridden_speed = 0 + self.override_force_stop_timer = 0 + self.slc_offset = 0 + self.slc_target = 0 + self.speed_limit_timer = 0 + self.stsc_target = 0 + self.tracked_model_length = 0 + self.vtsc_target = 0 + + def update(self, carControl, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, v_cruise, v_ego, frogpilot_toggles): + force_stop = frogpilot_toggles.force_stops and self.frogpilot_planner.cem.stop_light_detected and controlsState.enabled + force_stop &= self.frogpilot_planner.model_length < 100 + force_stop &= self.override_force_stop_timer <= 0 + + self.force_stop_timer = self.force_stop_timer + DT_MDL if force_stop else 0 + + force_stop_enabled = self.force_stop_timer >= 1 + + self.override_force_stop |= not frogpilot_toggles.force_standstill and carState.standstill and self.frogpilot_planner.tracking_lead + self.override_force_stop |= carState.gasPressed + self.override_force_stop |= frogpilotCarControl.accelPressed + self.override_force_stop &= force_stop_enabled + + if self.override_force_stop: + self.override_force_stop_timer = 10 + elif self.override_force_stop_timer > 0: + self.override_force_stop_timer -= DT_MDL + + v_cruise_cluster = max(controlsState.vCruiseCluster * CV.KPH_TO_MS, v_cruise) + v_cruise_diff = v_cruise_cluster - v_cruise + + v_ego_cluster = max(carState.vEgoCluster, v_ego) + v_ego_diff = v_ego_cluster - v_ego + + # FrogsGoMoo's Smart Turn Speed Controller + self.stsc.update(carControl, v_cruise, round(v_ego, 2)) + if frogpilot_toggles.smart_turn_speed_controller and v_ego > CRUISING_SPEED and carControl.longActive and self.frogpilot_planner.road_curvature_detected: + self.stsc_target = self.stsc.stsc_target + else: + self.stsc_target = v_cruise if v_cruise != V_CRUISE_UNSET else 0 + + # Pfeiferj's Map Turn Speed Controller + if frogpilot_toggles.map_turn_speed_controller and v_ego > CRUISING_SPEED and carControl.longActive: + mtsc_active = self.mtsc_target < v_cruise + mtsc_speed = ((TARGET_LAT_A * frogpilot_toggles.turn_aggressiveness) / (self.mtsc.get_map_curvature(v_ego) * frogpilot_toggles.curve_sensitivity))**0.5 + self.mtsc_target = clip(mtsc_speed, CRUISING_SPEED, v_cruise) + + if self.frogpilot_planner.road_curvature_detected and mtsc_active: + self.mtsc_target = self.frogpilot_planner.v_cruise + elif not self.frogpilot_planner.road_curvature_detected and frogpilot_toggles.mtsc_curvature_check: + self.mtsc_target = v_cruise + else: + self.mtsc_target = v_cruise if v_cruise != V_CRUISE_UNSET else 0 + + # Pfeiferj's Speed Limit Controller + if frogpilot_toggles.show_speed_limits or frogpilot_toggles.speed_limit_controller: + self.slc.update(frogpilotCarState.dashboardSpeedLimit, controlsState.enabled, frogpilotNavigation.navigationSpeedLimit, v_cruise_cluster, v_ego, frogpilot_toggles) + desired_slc_target = self.slc.desired_speed_limit + + if self.slc.speed_limit_changed: + speed_limit_accepted = frogpilotCarControl.accelPressed and carControl.longActive or params_memory.get_bool("SpeedLimitAccepted") + speed_limit_denied = frogpilotCarControl.decelPressed and carControl.longActive or self.speed_limit_timer >= 30 + + if speed_limit_accepted: + self.slc_target = desired_slc_target + params_memory.remove("SpeedLimitAccepted") + elif desired_slc_target < self.slc_target and not frogpilot_toggles.speed_limit_confirmation_lower: + self.slc_target = desired_slc_target + elif desired_slc_target > self.slc_target and not frogpilot_toggles.speed_limit_confirmation_higher: + self.slc_target = desired_slc_target + else: + self.speed_limit_timer += DT_MDL + + self.slc.speed_limit_changed = self.slc_target != desired_slc_target and not speed_limit_denied + elif self.slc_target == 0: + self.slc_target = desired_slc_target + else: + self.speed_limit_timer = 0 + + if frogpilot_toggles.speed_limit_controller: + self.override_slc = self.overridden_speed > self.slc_target + self.slc_offset + self.override_slc |= carState.gasPressed and v_ego > self.slc_target + self.slc_offset + self.override_slc &= controlsState.enabled + + if self.override_slc: + if frogpilot_toggles.speed_limit_controller_override_manual: + if carState.gasPressed: + self.overridden_speed = v_ego_cluster + self.overridden_speed = clip(self.overridden_speed, self.slc_target + self.slc_offset, v_cruise_cluster) + elif frogpilot_toggles.speed_limit_controller_override_set_speed: + self.overridden_speed = v_cruise_cluster + else: + self.overridden_speed = 0 + else: + self.override_slc = False + self.overridden_speed = 0 + + self.slc_offset = self.slc.get_offset(self.slc_target, frogpilot_toggles) + else: + self.slc_offset = 0 + self.slc_target = 0 + + # Pfeiferj's Vision Turn Controller + if frogpilot_toggles.vision_turn_speed_controller and v_ego > CRUISING_SPEED and carControl.longActive and self.frogpilot_planner.road_curvature_detected: + self.vtsc_target = ((TARGET_LAT_A * frogpilot_toggles.turn_aggressiveness) / (self.frogpilot_planner.road_curvature * frogpilot_toggles.curve_sensitivity))**0.5 + self.vtsc_target = clip(self.vtsc_target, CRUISING_SPEED, v_cruise) + else: + self.vtsc_target = v_cruise if v_cruise != V_CRUISE_UNSET else 0 + + if frogpilot_toggles.force_standstill and carState.standstill and not self.override_force_stop and controlsState.enabled: + self.forcing_stop = True + v_cruise = -1 + + elif force_stop_enabled and not self.override_force_stop: + self.forcing_stop |= not carState.standstill + self.tracked_model_length = max(self.tracked_model_length - v_ego * DT_MDL, 0) + v_cruise = min((self.tracked_model_length // PLANNER_TIME), v_cruise) + + else: + if not self.frogpilot_planner.cem.stop_light_detected: + self.override_force_stop = False + + self.forcing_stop = False + + self.tracked_model_length = self.frogpilot_planner.model_length + + if frogpilot_toggles.speed_limit_controller: + targets = [self.mtsc_target, max(self.overridden_speed, self.slc_target + self.slc_offset) - v_ego_diff, self.stsc_target, self.vtsc_target] + else: + targets = [self.mtsc_target, self.stsc_target, self.vtsc_target] + v_cruise = float(min([target if target > CRUISING_SPEED else v_cruise for target in targets])) + + self.mtsc_target = clip(self.mtsc_target, self.mtsc_target + v_cruise_diff, v_cruise) + self.stsc_target = clip(self.stsc_target, self.mtsc_target + v_cruise_diff, v_cruise) + self.vtsc_target = clip(self.vtsc_target, self.mtsc_target + v_cruise_diff, v_cruise) + + return v_cruise diff --git a/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py b/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py new file mode 100644 index 000000000..2b0a035e5 --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py @@ -0,0 +1,81 @@ +# PFEIFER - MTSC - Modified by FrogAi for FrogPilot +#!/usr/bin/env python3 +import json +import math + +from openpilot.selfdrive.frogpilot.frogpilot_utilities import calculate_distance_to_point +from openpilot.selfdrive.frogpilot.frogpilot_variables import PLANNER_TIME, TO_RADIANS, params_memory + +def calculate_curvature(p1, p2, p3): + lat1, lon1 = p1 + lat2, lon2 = p2 + lat3, lon3 = p3 + + lat1_rad, lon1_rad = lat1 * TO_RADIANS, lon1 * TO_RADIANS + lat2_rad, lon2_rad = lat2 * TO_RADIANS, lon2 * TO_RADIANS + lat3_rad, lon3_rad = lat3 * TO_RADIANS, lon3 * TO_RADIANS + + side_a = calculate_distance_to_point(lat2_rad, lon2_rad, lat3_rad, lon3_rad) + side_b = calculate_distance_to_point(lat1_rad, lon1_rad, lat3_rad, lon3_rad) + side_c = calculate_distance_to_point(lat1_rad, lon1_rad, lat2_rad, lon2_rad) + + s = (side_a + side_b + side_c) / 2 + + area_squared = s * (s - side_a) * (s - side_b) * (s - side_c) + if area_squared <= 0: + return 0 + + area = math.sqrt(area_squared) + + radius = (side_a * side_b * side_c) / (4 * area) + if radius == 0: + return 0 + + curvature = 1 / radius + return curvature + +class MapTurnSpeedController: + def get_map_curvature(self, v_ego): + position = json.loads(params_memory.get("LastGPSPosition") or "{}") + if not position: + return 1e-6 + current_latitude = position["latitude"] + current_longitude = position["longitude"] + + distances = [] + minimum_idx = 0 + minimum_distance = 1000.0 + + target_velocities = json.loads(params_memory.get("MapTargetVelocities") or "[]") + for i, target_velocity in enumerate(target_velocities): + target_latitude = target_velocity["latitude"] + target_longitude = target_velocity["longitude"] + + distance = calculate_distance_to_point(current_latitude * TO_RADIANS, current_longitude * TO_RADIANS, target_latitude * TO_RADIANS, target_longitude * TO_RADIANS) + distances.append(distance) + + if distance < minimum_distance: + minimum_distance = distance + minimum_idx = i + + forward_distances = distances[minimum_idx:] + + cumulative_distance = 0.0 + target_idx = None + + for i, distance in enumerate(forward_distances): + cumulative_distance += distance + if cumulative_distance >= PLANNER_TIME * v_ego: + target_idx = i + break + + forward_points = target_velocities[minimum_idx:] + + if target_idx is None or target_idx == 0 or target_idx >= len(forward_points) - 1: + return 1e-6 + + p1 = (forward_points[target_idx - 1]["latitude"], forward_points[target_idx - 1]["longitude"]) + p2 = (forward_points[target_idx]["latitude"], forward_points[target_idx]["longitude"]) + p3 = (forward_points[target_idx + 1]["latitude"], forward_points[target_idx + 1]["longitude"]) + + return max(calculate_curvature(p1, p2, p3), 1e-6) diff --git a/selfdrive/frogpilot/controls/lib/smart_turn_speed_controller.py b/selfdrive/frogpilot/controls/lib/smart_turn_speed_controller.py new file mode 100644 index 000000000..e80d3d093 --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/smart_turn_speed_controller.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python3 +import json +import numpy as np + +from sortedcontainers import SortedDict + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX + +from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME, params + +CACHE_WINDOW = 1 +CURVATURE_THRESHOLD = 1e-10 +ROUNDING_PRECISION = 10 + +class SmartTurnSpeedController: + def __init__(self, FrogPilotVCruise): + self.frogpilot_vcruise = FrogPilotVCruise + + self.data = SortedDict({entry["speed"]: [np.array([curve["curvature"], curve["lateral_accel"]]) for curve in entry.get("curvatures", [])] for entry in json.loads(params.get("UserCurvature") or "[]")}) + + self.last_cached_speed = 0 + self.manual_long_timer = 0 + self.stsc_target = 0 + + self.cached_entries = None + self.cached_speeds = None + + def update_cache(self, v_ego): + if abs(self.last_cached_speed - v_ego) <= CACHE_WINDOW / 2: + return + + speeds_in_range = list(self.data.irange(v_ego - CACHE_WINDOW, v_ego + CACHE_WINDOW)) + if speeds_in_range: + self.cached_entries = np.vstack([self.data[speed] for speed in speeds_in_range]) + self.cached_speeds = np.array(speeds_in_range) + else: + self.cached_entries = self.cached_speeds = None + + self.last_cached_speed = v_ego + + def set_stsc_target(self, carControl, v_cruise, v_ego): + if not self.data or v_ego < CRUISING_SPEED or not carControl.longActive: + self.stsc_target = v_cruise + return + + self.update_cache(v_ego) + if self.cached_speeds is None: + self.stsc_target = v_cruise + return + + road_curvature = round(self.frogpilot_vcruise.frogpilot_planner.road_curvature, ROUNDING_PRECISION) + closest_entry = min(self.cached_entries, key=lambda x: abs(x[0] - road_curvature)) + self.stsc_target = clip((closest_entry[1] / closest_entry[0])**0.5, CRUISING_SPEED, v_cruise) + + def update_curvature_data(self, v_ego): + road_curvature = round(self.frogpilot_vcruise.frogpilot_planner.road_curvature, ROUNDING_PRECISION) + lateral_accel = round(v_ego**2 * road_curvature, ROUNDING_PRECISION) + + if abs(road_curvature) < CURVATURE_THRESHOLD or abs(lateral_accel) < 1: + return + + entries = self.data.setdefault(v_ego, []) + for i, entry in enumerate(entries): + if abs(entry[0] - road_curvature) < CURVATURE_THRESHOLD: + entries[i][1] = (entry[1] + lateral_accel) / 2 + return + + entries.append(np.array([road_curvature, lateral_accel])) + + def update(self, carControl, v_cruise, v_ego): + if not carControl.longActive and V_CRUISE_MAX * CV.KPH_TO_MS >= v_ego > CRUISING_SPEED and not self.frogpilot_vcruise.frogpilot_planner.tracking_lead: + if self.manual_long_timer >= PLANNER_TIME: + self.update_curvature_data(v_ego) + self.manual_long_timer += DT_MDL + + elif self.manual_long_timer >= PLANNER_TIME: + params.put_nonblocking("UserCurvature", json.dumps([ + {"speed": speed, "curvatures": [{"curvature": entry[0], "lateral_accel": entry[1]} for entry in entries]} + for speed, entries in self.data.items() + ])) + self.manual_long_timer = 0 + + else: + self.set_stsc_target(carControl, v_cruise, v_ego) + self.manual_long_timer = 0 diff --git a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py new file mode 100644 index 000000000..6a85c590a --- /dev/null +++ b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py @@ -0,0 +1,112 @@ +# PFEIFER - SLC - Modified by FrogAi for FrogPilot +#!/usr/bin/env python3 +import json + +from openpilot.selfdrive.frogpilot.frogpilot_utilities import calculate_distance_to_point +from openpilot.selfdrive.frogpilot.frogpilot_variables import TO_RADIANS, params, params_memory + +class SpeedLimitController: + def __init__(self): + self.experimental_mode = False + self.speed_limit_changed = False + + self.desired_speed_limit = 0 + self.map_speed_limit = 0 + self.speed_limit = 0 + self.upcoming_speed_limit = 0 + + self.source = "None" + + self.previous_speed_limit = params.get_float("PreviousSpeedLimit") + + def update(self, dashboard_speed_limit, enabled, navigation_speed_limit, v_cruise, v_ego, frogpilot_toggles): + self.update_map_speed_limit(v_ego, frogpilot_toggles) + max_speed_limit = v_cruise if enabled else 0 + + self.speed_limit = self.get_speed_limit(dashboard_speed_limit, max_speed_limit, navigation_speed_limit, frogpilot_toggles) + self.desired_speed_limit = self.get_desired_speed_limit() + + self.experimental_mode = frogpilot_toggles.slc_fallback_experimental_mode and self.speed_limit == 0 + + def get_desired_speed_limit(self): + if self.speed_limit > 1: + if abs(self.speed_limit - self.previous_speed_limit) > 1: + params.put_float_nonblocking("PreviousSpeedLimit", self.speed_limit) + self.previous_speed_limit = self.speed_limit + self.speed_limit_changed = True + return self.speed_limit + else: + self.speed_limit_changed = False + return 0 + + def update_map_speed_limit(self, v_ego, frogpilot_toggles): + position = json.loads(params_memory.get("LastGPSPosition") or "{}") + if not position: + self.map_speed_limit = 0 + return + + self.map_speed_limit = params_memory.get_float("MapSpeedLimit") + + next_map_speed_limit = json.loads(params_memory.get("NextMapSpeedLimit") or "{}") + self.upcoming_speed_limit = next_map_speed_limit.get("speedlimit", 0) + if self.upcoming_speed_limit > 1: + current_latitude = position.get("latitude") + current_longitude = position.get("longitude") + + upcoming_latitude = next_map_speed_limit.get("latitude") + upcoming_longitude = next_map_speed_limit.get("longitude") + + distance_to_upcoming = calculate_distance_to_point(current_latitude * TO_RADIANS, current_longitude * TO_RADIANS, upcoming_latitude * TO_RADIANS, upcoming_longitude * TO_RADIANS) + + if self.previous_speed_limit < self.upcoming_speed_limit: + max_distance = frogpilot_toggles.map_speed_lookahead_higher * v_ego + else: + max_distance = frogpilot_toggles.map_speed_lookahead_lower * v_ego + + if distance_to_upcoming < max_distance: + self.map_speed_limit = self.upcoming_speed_limit + + def get_offset(self, speed_limit, frogpilot_toggles): + if speed_limit < 13.5: + return frogpilot_toggles.speed_limit_offset1 + if speed_limit < 24: + return frogpilot_toggles.speed_limit_offset2 + if speed_limit < 29: + return frogpilot_toggles.speed_limit_offset3 + return frogpilot_toggles.speed_limit_offset4 + + def get_speed_limit(self, dashboard_speed_limit, max_speed_limit, navigation_speed_limit, frogpilot_toggles): + limits = { + "Dashboard": dashboard_speed_limit, + "Map Data": self.map_speed_limit, + "Navigation": navigation_speed_limit + } + filtered_limits = {source: float(limit) for source, limit in limits.items() if limit > 1} + + if filtered_limits: + if frogpilot_toggles.speed_limit_priority_highest: + self.source = max(filtered_limits, key=filtered_limits.get) + return filtered_limits[self.source] + + if frogpilot_toggles.speed_limit_priority_lowest: + self.source = min(filtered_limits, key=filtered_limits.get) + return filtered_limits[self.source] + + for priority in [ + frogpilot_toggles.speed_limit_priority1, + frogpilot_toggles.speed_limit_priority2, + frogpilot_toggles.speed_limit_priority3 + ]: + if priority is not None and priority in filtered_limits: + self.source = priority + return filtered_limits[priority] + + self.source = "None" + + if frogpilot_toggles.slc_fallback_previous_speed_limit: + return self.previous_speed_limit + + if frogpilot_toggles.slc_fallback_set_speed: + return max_speed_limit + + return 0 diff --git a/selfdrive/frogpilot/fleetmanager/README.md b/selfdrive/frogpilot/fleetmanager/README.md new file mode 100644 index 000000000..ac554e032 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/README.md @@ -0,0 +1,5 @@ +# Fleet Manager + +Fleet Manger on openpilot allows viewing dashcam footage, screen recordings, error logs and on-device navigation by connecting to the comma device via the same network, with your mobile device or PC. Big thanks to [actuallylemoncurd](https://github.com/actuallylemoncurd), [AlexandreSato](https://github.com/alexandreSato), [ntegan1](https://github.com/ntegan1), [royjr](https://github.com/royjr), [sunnyhaibin] (https://github.com/sunnypilot), [dragonpilot](https://github.com/dragonpilot-community) and [chatgpt](https://chat.openai.com/). + +The network can be set up by Wi-Fi, mobile hotspot, or tethering on the comma device. Navigate to http://ipAddress:8082 to access. diff --git a/selfdrive/frogpilot/fleetmanager/fleet_manager.py b/selfdrive/frogpilot/fleetmanager/fleet_manager.py new file mode 100644 index 000000000..ea83522bd --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/fleet_manager.py @@ -0,0 +1,379 @@ +#!/usr/bin/env python3 +# otisserv - Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# Fleet Manager - [actuallylemoncurd](https://github.com/actuallylemoncurd), [AlexandreSato](https://github.com/alexandreSato), [ntegan1](https://github.com/ntegan1), [royjr](https://github.com/royjr), and [sunnyhaibin] (https://github.com/sunnypilot) +# Almost everything else - ChatGPT +# dirty PR pusher - mike8643 +# +# 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. +import os +import requests +import secrets +import traceback + +import openpilot.selfdrive.frogpilot.fleetmanager.helpers as fleet + +from flask import Flask, Response, jsonify, redirect, render_template, request, send_from_directory, session, url_for +from pathlib import Path +from requests.exceptions import ConnectionError + +from openpilot.common.realtime import set_core_affinity +from openpilot.common.swaglog import cloudlog +from openpilot.system.hardware.hw import Paths + +from openpilot.selfdrive.frogpilot.frogpilot_variables import has_prime + +app = Flask(__name__) + +@app.route("/") +def home_page(): + return render_template("index.html") + +@app.errorhandler(500) +def internal_error(exception): + print('500 error caught') + tberror = traceback.format_exc() + return render_template("error.html", error=tberror) + +@app.route("/footage/full//") +def full(cameratype, route): + chunk_size = 1024 * 512 # 5KiB + file_name = cameratype + (".ts" if cameratype == "qcamera" else ".hevc") + vidlist = "|".join(Paths.log_root() + "/" + segment + "/" + file_name for segment in fleet.segments_in_route(route)) + + def generate_buffered_stream(): + with fleet.ffmpeg_mp4_concat_wrap_process_builder(vidlist, cameratype, chunk_size) as process: + for chunk in iter(lambda: process.stdout.read(chunk_size), b""): + yield bytes(chunk) + return Response(generate_buffered_stream(), status=200, mimetype='video/mp4') + + +@app.route("/footage//") +def fcamera(cameratype, segment): + if not fleet.is_valid_segment(segment): + return render_template("error.html", error="invalid segment") + file_name = Paths.log_root() + "/" + segment + "/" + cameratype + (".ts" if cameratype == "qcamera" else ".hevc") + return Response(fleet.ffmpeg_mp4_wrap_process_builder(file_name).stdout.read(), status=200, mimetype='video/mp4') + + +@app.route("/footage/") +def route(route): + if len(route) != 20: + return render_template("error.html", error="route not found") + + if str(request.query_string) == "b''": + query_segment = str("0") + query_type = "qcamera" + else: + query_segment = (str(request.query_string).split(","))[0][2:] + query_type = (str(request.query_string).split(","))[1][:-1] + + links = "" + segments = "" + for segment in fleet.segments_in_route(route): + links += ""+segment+"
" + segments += "'"+segment+"'," + return render_template("route.html", route=route, query_type=query_type, links=links, segments=segments, query_segment=query_segment) + + +@app.route("/footage/") +@app.route("/footage") +def footage(): + route_paths = fleet.all_routes() + gifs = [] + for route_path in route_paths: + input_path = Paths.log_root() + route_path + "--0/qcamera.ts" + output_path = Paths.log_root() + route_path + "--0/preview.gif" + fleet.video_to_img(input_path, output_path) + gif_path = route_path + "--0/preview.gif" + gifs.append(gif_path) + zipped = zip(route_paths, gifs) + return render_template("footage.html", zipped=zipped) + +@app.route("/preserved/") +@app.route("/preserved") +def preserved(): + query_type = "qcamera" + route_paths = [] + gifs = [] + segments = fleet.preserved_routes() + for segment in segments: + input_path = Paths.log_root() + segment + "/qcamera.ts" + output_path = Paths.log_root() + segment + "/preview.gif" + fleet.video_to_img(input_path, output_path) + split_segment = segment.split("--") + route_paths.append(f"{split_segment[0]}--{split_segment[1]}?{split_segment[2]},{query_type}") + gif_path = segment + "/preview.gif" + gifs.append(gif_path) + + zipped = zip(route_paths, gifs, segments) + return render_template("preserved.html", zipped=zipped) + +@app.route("/screenrecords/") +@app.route("/screenrecords") +def screenrecords(): + rows = fleet.list_file(fleet.SCREENRECORD_PATH) + if not rows: + return render_template("error.html", error="no screenrecords found at:

" + fleet.SCREENRECORD_PATH) + return render_template("screenrecords.html", rows=rows, clip=rows[0]) + + +@app.route("/screenrecords/") +def screenrecord(clip): + return render_template("screenrecords.html", rows=fleet.list_files(fleet.SCREENRECORD_PATH), clip=clip) + + +@app.route("/screenrecords/play/pipe/") +def videoscreenrecord(file): + file_name = fleet.SCREENRECORD_PATH + file + return Response(fleet.ffplay_mp4_wrap_process_builder(file_name).stdout.read(), status=200, mimetype='video/mp4') + + +@app.route("/screenrecords/download/") +def download_file(clip): + return send_from_directory(fleet.SCREENRECORD_PATH, clip, as_attachment=True) + + +@app.route("/about") +def about(): + return render_template("about.html") + + +@app.route("/error_logs") +def error_logs(): + rows = fleet.list_file(fleet.ERROR_LOGS_PATH) + if not rows: + return render_template("error.html", error="no error logs found at:

" + fleet.ERROR_LOGS_PATH) + return render_template("error_logs.html", rows=rows) + + +@app.route("/error_logs/") +def open_error_log(file_name): + f = open(Path(fleet.ERROR_LOGS_PATH) / file_name) + error = f.read() + return render_template("error_log.html", file_name=file_name, file_content=error) + +@app.route("/addr_input", methods=['GET', 'POST']) +def addr_input(): + preload = fleet.preload_favs() + search_input = fleet.get_search_input() + token = fleet.get_public_token() + + lon = 0.0 + lat = 0.0 + + if request.method == 'POST': + postvars = request.form.to_dict() + valid_addr = False + addr, lon, lat, valid_addr, token = fleet.parse_addr(postvars, lon, lat, valid_addr, token) + + if not valid_addr: + addr = request.form.get('addr_val') + addr, lon, lat, valid_addr, token = fleet.search_addr(postvars, lon, lat, valid_addr, token) + + if valid_addr: + return redirect(url_for('nav_confirmation', addr=addr, lon=lon, lat=lat)) + return render_template("error.html") + + if has_prime(): + return render_template("prime.html") + + if search_input == 0: + if fleet.get_public_token() is None: + return redirect(url_for('public_token_input')) + + if fleet.get_secret_token() is None: + return redirect(url_for('app_token_input')) + + if search_input == 1: + amap_key, amap_key_2 = fleet.get_amap_key() + if not amap_key or not amap_key_2: + return redirect(url_for('amap_key_input')) + return redirect(url_for('amap_addr_input')) + + if search_input == 2: + gmap_key = fleet.get_gmap_key() + lon, lat = fleet.get_last_lon_lat() + + if not gmap_key: + return redirect(url_for('gmap_key_input')) + return render_template("addr.html", gmap_key=gmap_key, lon=lon, lat=lat, home=preload[0], work=preload[1], fav1=preload[2], fav2=preload[3], fav3=preload[4]) + + if fleet.get_nav_active(): + return render_template("nonprime.html", gmap_key=None, lon=None, lat=None, home=preload[0], work=preload[1], fav1=preload[2], fav2=preload[3], fav3=preload[4]) + + return render_template("addr.html", gmap_key=None, lon=None, lat=None, home=preload[0], work=preload[1], fav1=preload[2], fav2=preload[3], fav3=preload[4]) + +@app.route("/nav_confirmation", methods=['GET', 'POST']) +def nav_confirmation(): + token = fleet.get_public_token() + lon = request.args.get('lon') + lat = request.args.get('lat') + addr = request.args.get('addr') + if request.method == 'POST': + postvars = request.form.to_dict() + fleet.nav_confirmed(postvars) + return redirect(url_for('addr_input')) + else: + return render_template("nav_confirmation.html", addr=addr, lon=lon, lat=lat, token=token) + +@app.route("/public_token_input", methods=['GET', 'POST']) +def public_token_input(): + if request.method == 'POST': + postvars = request.form.to_dict() + fleet.public_token_input(postvars) + return redirect(url_for('addr_input')) + else: + return render_template("public_token_input.html") + +@app.route("/app_token_input", methods=['GET', 'POST']) +def app_token_input(): + if request.method == 'POST': + postvars = request.form.to_dict() + fleet.app_token_input(postvars) + return redirect(url_for('addr_input')) + else: + return render_template("app_token_input.html") + +@app.route("/gmap_key_input", methods=['GET', 'POST']) +def gmap_key_input(): + if request.method == 'POST': + postvars = request.form.to_dict() + fleet.gmap_key_input(postvars) + return redirect(url_for('addr_input')) + else: + return render_template("gmap_key_input.html") + +@app.route("/amap_key_input", methods=['GET', 'POST']) +def amap_key_input(): + if request.method == 'POST': + postvars = request.form.to_dict() + fleet.amap_key_input(postvars) + return redirect(url_for('amap_addr_input')) + else: + return render_template("amap_key_input.html") + +@app.route("/amap_addr_input", methods=['GET', 'POST']) +def amap_addr_input(): + if request.method == 'POST': + postvars = request.form.to_dict() + fleet.nav_confirmed(postvars) + return redirect(url_for('amap_addr_input')) + else: + lon, lat = fleet.get_last_lon_lat() + amap_key, amap_key_2 = fleet.get_amap_key() + return render_template("amap_addr_input.html", lon=lon, lat=lat, amap_key=amap_key, amap_key_2=amap_key_2) + +@app.route("/CurrentStep.json", methods=['GET']) +def find_CurrentStep(): + directory = "/data/openpilot/selfdrive/manager/" + filename = "CurrentStep.json" + return send_from_directory(directory, filename, as_attachment=True) + +@app.route("/navdirections.json", methods=['GET']) +def find_nav_directions(): + directory = "/data/openpilot/selfdrive/manager/" + filename = "navdirections.json" + return send_from_directory(directory, filename, as_attachment=True) + +@app.route("/locations", methods=['GET']) +def get_locations(): + data = fleet.get_locations() + return Response(data, content_type="application/json") + +@app.route("/set_destination", methods=['POST']) +def set_destination(): + valid_addr = False + postvars = request.get_json() + data, valid_addr = fleet.set_destination(postvars, valid_addr) + if valid_addr: + return Response('{"success": true}', content_type='application/json') + else: + return Response('{"success": false}', content_type='application/json') + +@app.route("/navigation/", methods=['GET']) +def find_navicon(file_name): + directory = "/data/openpilot/selfdrive/assets/navigation/" + return send_from_directory(directory, file_name, as_attachment=True) + +@app.route("/previewgif/", methods=['GET']) +def find_previewgif(file_path): + directory = "/data/media/0/realdata/" + return send_from_directory(directory, file_path, as_attachment=True) + +@app.route("/tools", methods=['GET']) +def tools_route(): + return render_template("tools.html") + +@app.route("/get_toggle_values", methods=['GET']) +def get_toggle_values_route(): + toggle_values = fleet.get_all_toggle_values() + return jsonify(toggle_values) + +@app.route("/reset_toggle_values", methods=['POST']) +def reset_toggle_values_route(): + try: + fleet.reset_toggle_values() + return jsonify({"message": "Toggles reset successfully! Rebooting..."}), 200 + except Exception as error: + return jsonify({"error": "Failed to reset toggles...", "details": str(error)}), 400 + +@app.route("/store_toggle_values", methods=['POST']) +def store_toggle_values_route(): + try: + updated_values = request.get_json() + fleet.store_toggle_values(updated_values) + return jsonify({"message": "Values updated successfully"}), 200 + except Exception as error: + return jsonify({"error": "Failed to update values", "details": str(error)}), 400 + +@app.route("/lock_doors", methods=['POST']) +def lock_doors_route(): + try: + fleet.lock_doors() + return jsonify({"message": "Doors locked successfully!"}), 200 + except Exception as error: + return jsonify({"error": "Failed to lock doors...", "details": str(error)}), 400 + +@app.route("/unlock_doors", methods=['POST']) +def unlock_doors_route(): + try: + fleet.unlock_doors() + return jsonify({"message": "Doors unlocked successfully!"}), 200 + except Exception as error: + return jsonify({"error": "Failed to unlock doors...", "details": str(error)}), 400 + +@app.route("/reboot_device", methods=['POST']) +def reboot_device_route(): + try: + fleet.reboot_device() + return jsonify({"message": "Successfully rebooted!"}), 200 + except Exception as error: + return jsonify({"error": "Failed to reboot...", "details": str(error)}), 400 + +def main(): + try: + set_core_affinity([0, 1, 2, 3]) + except Exception: + cloudlog.exception("fleet_manager: failed to set core affinity") + app.secret_key = secrets.token_hex(32) + app.run(host="0.0.0.0", port=8082) + + +if __name__ == '__main__': + main() diff --git a/selfdrive/frogpilot/fleetmanager/helpers.py b/selfdrive/frogpilot/fleetmanager/helpers.py new file mode 100644 index 000000000..71114a944 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/helpers.py @@ -0,0 +1,505 @@ +# otisserv - Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors. +# Fleet Manager - [actuallylemoncurd](https://github.com/actuallylemoncurd), [AlexandreSato](https://github.com/alexandreSato), [ntegan1](https://github.com/ntegan1), [royjr](https://github.com/royjr), and [sunnyhaibin] (https://github.com/sunnypilot) +# Almost everything else - ChatGPT +# dirty PR pusher - mike8643 +# +# 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. +import base64 +import json +import math +import os +import requests +import subprocess + +import openpilot.system.sentry as sentry + +from pathlib import Path +from typing import List +from urllib.parse import quote + +from openpilot.common.params import ParamKeyType +from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD, UNLOCK_CMD +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.hardware.hw import Paths +from openpilot.system.loggerd.uploader import listdir_by_creation +from openpilot.system.loggerd.xattr_cache import getxattr +from panda import Panda +from tools.lib.route import SegmentName + +from openpilot.selfdrive.frogpilot.frogpilot_variables import params, update_frogpilot_toggles + +XOR_KEY = "s8#pL3*Xj!aZ@dWq" + +pi = 3.1415926535897932384626 +x_pi = 3.14159265358979324 * 3000.0 / 180.0 +a = 6378245.0 +ee = 0.00669342162296594323 + +PRESERVE_ATTR_NAME = 'user.preserve' +PRESERVE_ATTR_VALUE = b'1' +PRESERVE_COUNT = 5 + + +# path to openpilot screen recordings and error logs +if PC: + SCREENRECORD_PATH = os.path.join(str(Path.home()), ".comma", "media", "screen_recordings", "") + ERROR_LOGS_PATH = os.path.join(str(Path.home()), ".comma", "community", "crashes", "") +else: + SCREENRECORD_PATH = "/data/media/screen_recordings/" + ERROR_LOGS_PATH = sentry.CRASHES_DIR + + +def list_files(path): # still used for footage + return sorted(listdir_by_creation(path), reverse=True) + + +def list_file(path): # new function for screenrecords/error-logs + if os.path.exists(path): + files = os.listdir(path) + sorted_files = sorted(files, reverse=True) + else: + return [] # Return an empty list if there are no files or directory + return sorted_files + + +def is_valid_segment(segment): + try: + segment_to_segment_name(Paths.log_root(), segment) + return True + except AssertionError: + return False + + +def segment_to_segment_name(data_dir, segment): + fake_dongle = "ffffffffffffffff" + return SegmentName(str(os.path.join(data_dir, fake_dongle + "|" + segment))) + + +def all_segment_names(): + segments = [] + for segment in listdir_by_creation(Paths.log_root()): + try: + segments.append(segment_to_segment_name(Paths.log_root(), segment)) + except AssertionError: + pass + return segments + + +def all_routes(): + segment_names = all_segment_names() + route_names = [segment_name.route_name for segment_name in segment_names] + route_times = [route_name.time_str for route_name in route_names] + unique_routes = list(dict.fromkeys(route_times)) + return sorted(unique_routes, reverse=True) + +def preserved_routes(): + dirs = listdir_by_creation(Paths.log_root()) + preserved_segments = get_preserved_segments(dirs) + return sorted(preserved_segments, reverse=True) + +def has_preserve_xattr(d: str) -> bool: + return getxattr(os.path.join(Paths.log_root(), d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE + +def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]: + preserved = [] + for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))): + if n == PRESERVE_COUNT: + break + date_str, _, seg_str = d.rpartition("--") + + # ignore non-segment directories + if not date_str: + continue + try: + seg_num = int(seg_str) + except ValueError: + continue + # preserve segment and its prior + preserved.append(d) + + return preserved + +def video_to_gif(input_path, output_path, fps=1, duration=6): # not used right now but can if want longer animated gif + if os.path.exists(output_path): + return + command = [ + 'ffmpeg', '-y', '-i', input_path, + '-filter_complex', + f'fps={fps},scale=240:-1:flags=lanczos,setpts=0.1*PTS,split[s0][s1];[s0]palettegen=max_colors=32[p];[s1][p]paletteuse=dither=bayer', + '-t', str(duration), output_path + ] + subprocess.run(command) + print(f"GIF file created: {output_path}") + +def video_to_img(input_path, output_path, fps=1, duration=6): + if os.path.exists(output_path): + return + subprocess.run(['ffmpeg', '-y', '-i', input_path, '-ss', '5', '-vframes', '1', output_path]) + print(f"GIF file created: {output_path}") + +def segments_in_route(route): + segment_names = [segment_name for segment_name in all_segment_names() if segment_name.time_str == route] + segments = [segment_name.time_str + "--" + str(segment_name.segment_num) for segment_name in segment_names] + return segments + + +def ffmpeg_mp4_concat_wrap_process_builder(file_list, cameratype, chunk_size=1024*512): + command_line = ["ffmpeg"] + if not cameratype == "qcamera": + command_line += ["-f", "hevc"] + command_line += ["-r", "20"] + command_line += ["-i", "concat:" + file_list] + command_line += ["-c", "copy"] + command_line += ["-map", "0"] + if not cameratype == "qcamera": + command_line += ["-vtag", "hvc1"] + command_line += ["-f", "mp4"] + command_line += ["-movflags", "empty_moov"] + command_line += ["-"] + return subprocess.Popen( + command_line, stdout=subprocess.PIPE, + bufsize=chunk_size + ) + + +def ffmpeg_mp4_wrap_process_builder(filename): + """Returns a process that will wrap the given filename + inside a mp4 container, for easier playback by browsers + and other devices. Primary use case is streaming segment videos + to the vidserver tool. + filename is expected to be a pathname to one of the following + /path/to/a/qcamera.ts + /path/to/a/dcamera.hevc + /path/to/a/ecamera.hevc + /path/to/a/fcamera.hevc + """ + basename = filename.rsplit("/")[-1] + extension = basename.rsplit(".")[-1] + command_line = ["ffmpeg"] + if extension == "hevc": + command_line += ["-f", "hevc"] + command_line += ["-r", "20"] + command_line += ["-i", filename] + command_line += ["-c", "copy"] + command_line += ["-map", "0"] + if extension == "hevc": + command_line += ["-vtag", "hvc1"] + command_line += ["-f", "mp4"] + command_line += ["-movflags", "empty_moov"] + command_line += ["-"] + return subprocess.Popen( + command_line, stdout=subprocess.PIPE + ) + + +def ffplay_mp4_wrap_process_builder(file_name): + command_line = ["ffmpeg"] + command_line += ["-i", file_name] + command_line += ["-c", "copy"] + command_line += ["-map", "0"] + command_line += ["-f", "mp4"] + command_line += ["-movflags", "empty_moov"] + command_line += ["-"] + return subprocess.Popen( + command_line, stdout=subprocess.PIPE + ) + +def get_nav_active(): + if params.get("NavDestination", encoding='utf8') is not None: + return True + else: + return False + +def get_amap_key(): + token = params.get("AMapKey1", encoding='utf8') + token2 = params.get("AMapKey2", encoding='utf8') + return (token.strip() if token else None, token2.strip() if token2 else None) + +def get_gmap_key(): + token = params.get("GMapKey", encoding='utf8') + return token.strip() if token else None + +def get_public_token(): + token = params.get("MapboxPublicKey", encoding='utf8') + return token.strip() if token and token.startswith("pk") else None + +def get_secret_token(): + token = params.get("MapboxSecretKey", encoding='utf8') + return token.strip() if token and token.startswith("sk") else None + +def get_search_input(): + return params.get_int("SearchInput") + +def get_last_lon_lat(): + last_pos = params.get("LastGPSPosition") + if last_pos: + l = json.loads(last_pos) + else: + return 0.0, 0.0 + return l["longitude"], l["latitude"] + +def get_locations(): + data = params.get("ApiCache_NavDestinations", encoding='utf-8') + return data + +def preload_favs(): + try: + nav_destinations = json.loads(params.get("ApiCache_NavDestinations", encoding='utf8') or "{}") + except TypeError: + return (None, None, None, None, None) + + locations = {"home": None, "work": None, "fav1": None, "fav2": None, "fav3": None} + + for item in nav_destinations: + label = item.get("label") + if label in locations and locations[label] is None: + locations[label] = item.get("place_name") + + return tuple(locations.values()) + +def parse_addr(postvars, lon, lat, valid_addr, token): + addr = postvars.get("fav_val", [""]) + real_addr = None + if addr != "favorites": + try: + dests = json.loads(params.get("ApiCache_NavDestinations", encoding='utf8') or "{}") + except TypeError: + dests = json.loads("[]") + for item in dests: + if "label" in item and item["label"] == addr: + lat, lon, real_addr = item["latitude"], item["longitude"], item["place_name"] + break + return (real_addr, lon, lat, real_addr is not None, token) + +def search_addr(postvars, lon, lat, valid_addr, token): + if "addr_val" in postvars: + addr = postvars.get("addr_val") + if addr != "": + # Properly encode the address to handle spaces + addr_encoded = quote(addr) + query = f"https://api.mapbox.com/geocoding/v5/mapbox.places/{addr_encoded}.json?access_token={token}&limit=1" + # focus on place around last gps position + lngi, lati = get_last_lon_lat() + query += "&proximity=%s,%s" % (lngi, lati) + r = requests.get(query) + if r.status_code != 200: + return (addr, lon, lat, valid_addr, token) + j = json.loads(r.text) + if not j["features"]: + return (addr, lon, lat, valid_addr, token) + lon, lat = j["features"][0]["geometry"]["coordinates"] + valid_addr = True + return (addr, lon, lat, valid_addr, token) + +def set_destination(postvars, valid_addr): + if postvars.get("latitude") is not None and postvars.get("longitude") is not None: + postvars["lat"] = postvars.get("latitude") + postvars["lon"] = postvars.get("longitude") + postvars["save_type"] = "recent" + nav_confirmed(postvars) + valid_addr = True + else: + addr = postvars.get("place_name") + token = get_public_token() + data, lon, lat, valid_addr, token = search_addr(addr, lon, lat, valid_addr, token) + postvars["lat"] = lat + postvars["lon"] = lon + postvars["save_type"] = "recent" + nav_confirmed(postvars) + valid_addr= True + return postvars, valid_addr + +def nav_confirmed(postvars): + if postvars is not None: + lat = float(postvars.get("lat")) + lng = float(postvars.get("lon")) + save_type = postvars.get("save_type") + name = postvars.get("name") if postvars.get("name") is not None else "" + if params.get_int("SearchInput") == 1: + lng, lat = gcj02towgs84(lng, lat) + params.put("NavDestination", "{\"latitude\": %f, \"longitude\": %f, \"place_name\": \"%s\"}" % (lat, lng, name)) + if name == "": + name = str(lat) + "," + str(lng) + new_dest = {"latitude": float(lat), "longitude": float(lng), "place_name": name} + if save_type == "recent": + new_dest["save_type"] = "recent" + else: + new_dest["save_type"] = "favorite" + new_dest["label"] = save_type + val = params.get("ApiCache_NavDestinations", encoding='utf8') + if val is not None: + val = val.rstrip('\x00') + dests = [] if val is None else json.loads(val) + # type idx + type_label_ids = {"home": None, "work": None, "fav1": None, "fav2": None, "fav3": None, "recent": []} + idx = 0 + for d in dests: + if d["save_type"] == "favorite": + type_label_ids[d["label"]] = idx + else: + type_label_ids["recent"].append(idx) + idx += 1 + if save_type == "recent": + id = None + if len(type_label_ids["recent"]) > 10: + dests.pop(type_label_ids["recent"][-1]) + else: + id = type_label_ids[save_type] + if id is None: + dests.insert(0, new_dest) + else: + dests[id] = new_dest + params.put("ApiCache_NavDestinations", json.dumps(dests).rstrip("\n\r")) + +def public_token_input(postvars): + if postvars is None or "pk_token_val" not in postvars or postvars.get("pk_token_val")[0] == "": + return postvars + else: + token = postvars.get("pk_token_val").strip() + if "pk." not in token: + return postvars + else: + params.put("MapboxPublicKey", token) + return token + +def app_token_input(postvars): + if postvars is None or "sk_token_val" not in postvars or postvars.get("sk_token_val")[0] == "": + return postvars + else: + token = postvars.get("sk_token_val").strip() + if "sk." not in token: + return postvars + else: + params.put("MapboxSecretKey", token) + return token + +def gmap_key_input(postvars): + if postvars is None or "gmap_key_val" not in postvars or postvars.get("gmap_key_val")[0] == "": + return postvars + else: + token = postvars.get("gmap_key_val").strip() + params.put("GMapKey", token) + return token + +def amap_key_input(postvars): + if postvars is None or "amap_key_val" not in postvars or postvars.get("amap_key_val")[0] == "": + return postvars + else: + token = postvars.get("amap_key_val").strip() + token2 = postvars.get("amap_key_val_2").strip() + params.put("AMapKey1", token) + params.put("AMapKey2", token2) + return token + +def gcj02towgs84(lng, lat): + dlat = transform_lat(lng - 105.0, lat - 35.0) + dlng = transform_lng(lng - 105.0, lat - 35.0) + radlat = lat / 180.0 * pi + magic = math.sin(radlat) + magic = 1 - ee * magic * magic + sqrtmagic = math.sqrt(magic) + dlat = (dlat * 180.0) / ((a * (1 - ee)) / (magic * sqrtmagic) * pi) + dlng = (dlng * 180.0) / (a / sqrtmagic * math.cos(radlat) * pi) + mglat = lat + dlat + mglng = lng + dlng + return [lng * 2 - mglng, lat * 2 - mglat] + +def transform_lat(lng, lat): + ret = -100.0 + 2.0 * lng + 3.0 * lat + 0.2 * lat * lat + 0.1 * lng * lat + 0.2 * math.sqrt(abs(lng)) + ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 + ret += (20.0 * math.sin(lat * pi) + 40.0 * math.sin(lat / 3.0 * pi)) * 2.0 / 3.0 + ret += (160.0 * math.sin(lat / 12.0 * pi) + 320 * math.sin(lat * pi / 30.0)) * 2.0 / 3.0 + return ret + +def transform_lng(lng, lat): + ret = 300.0 + lng + 2.0 * lat + 0.1 * lng * lng + 0.1 * lng * lat + 0.1 * math.sqrt(abs(lng)) + ret += (20.0 * math.sin(6.0 * lng * pi) + 20.0 * math.sin(2.0 * lng * pi)) * 2.0 / 3.0 + ret += (20.0 * math.sin(lng * pi) + 40.0 * math.sin(lng / 3.0 * pi)) * 2.0 / 3.0 + ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0 + return ret + +def xor_encrypt_decrypt(data: str, key: str) -> str: + return ''.join(chr(ord(c) ^ ord(key[i % len(key)])) for i, c in enumerate(data)) + +def encode_parameters(params_dict): + serialized_data = json.dumps(params_dict) + obfuscated_data = xor_encrypt_decrypt(serialized_data, XOR_KEY) + encoded_data = base64.b64encode(obfuscated_data.encode('utf-8')).decode('utf-8') + return encoded_data + +def decode_parameters(encoded_string): + obfuscated_data = base64.b64decode(encoded_string.encode('utf-8')).decode('utf-8') + decrypted_data = xor_encrypt_decrypt(obfuscated_data, XOR_KEY) + return json.loads(decrypted_data) + +def get_all_toggle_values(): + excluded_keys = [ + "ApiCache_NavDestinations", "CalibrationParams", "CarParamsPersistent", + "CarParamsPrevRoute", "GitDiff", "LastGPSPosition", "LiveParameters", + "LiveTorqueParameters", "NavDestination", "NavPastDestinations" + ] + + toggle_values = {} + for key in params.all_keys(): + if key.decode('utf-8') in excluded_keys: + continue + if params.get_key_type(key) & ParamKeyType.PERSISTENT: + if isinstance(params.get(key), bytes): + value = params.get(key, encoding='utf-8') + else: + value = params.get(key) or "0" + toggle_values[key.decode('utf-8')] = value + + return encode_parameters(toggle_values) + +def reset_toggle_values(): + params.put_bool("DoToggleReset", True) + HARDWARE.reboot() + +def store_toggle_values(request_data): + excluded_keys = [ + "ApiCache_NavDestinations", "CalibrationParams", "CarParamsPersistent", + "CarParamsPrevRoute", "GitDiff", "LastGPSPosition", "LiveParameters", + "LiveTorqueParameters", "NavDestination", "NavPastDestinations" + ] + + toggle_values = decode_parameters(request_data['data']) + for key, value in toggle_values.items(): + if key in excluded_keys: + continue + params.put(key, value) + + update_frogpilot_toggles() + +def lock_doors(): + panda = Panda() + panda.set_safety_mode(panda.SAFETY_ALLOUTPUT) + panda.can_send(0x750, LOCK_CMD, 0) + panda.set_safety_mode(panda.SAFETY_TOYOTA) + panda.send_heartbeat() + +def unlock_doors(): + panda = Panda() + panda.set_safety_mode(panda.SAFETY_ALLOUTPUT) + panda.can_send(0x750, UNLOCK_CMD, 0) + panda.set_safety_mode(panda.SAFETY_TOYOTA) + panda.send_heartbeat() + +def reboot_device(): + HARDWARE.reboot() diff --git a/selfdrive/frogpilot/fleetmanager/static/favicon.ico b/selfdrive/frogpilot/fleetmanager/static/favicon.ico new file mode 100644 index 000000000..2f24c5828 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/static/favicon.ico @@ -0,0 +1 @@ +../../../selfdrive/assets/img_spinner_comma.png \ No newline at end of file diff --git a/selfdrive/frogpilot/fleetmanager/static/frog.png b/selfdrive/frogpilot/fleetmanager/static/frog.png new file mode 100644 index 000000000..5285f0be6 Binary files /dev/null and b/selfdrive/frogpilot/fleetmanager/static/frog.png differ diff --git a/selfdrive/frogpilot/fleetmanager/templates/about.html b/selfdrive/frogpilot/fleetmanager/templates/about.html new file mode 100644 index 000000000..06d56d03a --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/about.html @@ -0,0 +1,21 @@ +{% extends "layout.html" %} + +{% block title %} + About +{% endblock %} + +{% block main %} +
+

About

+
+
+ Special thanks to:

+ ntegan1
+ royjr
+ AlexandreSato
+ actuallylemoncurd
+ sunnyhaibin
+ dragonpilot
+ chatgpt
+
+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/addr.html b/selfdrive/frogpilot/fleetmanager/templates/addr.html new file mode 100644 index 000000000..805d5e7e2 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/addr.html @@ -0,0 +1,11 @@ +{% extends "layout.html" %} + +{% block title %} + Navigation +{% endblock %} + +{% block main %} +{% with gmap_key=gmap_key, lon=lon, lat=lat, home=home, work=work, fav1=fav1, fav2=fav2, fav3=fav3 %} + {% include "addr_input.html" %} +{% endwith %} +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/addr_input.html b/selfdrive/frogpilot/fleetmanager/templates/addr_input.html new file mode 100644 index 000000000..28ded7299 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/addr_input.html @@ -0,0 +1,64 @@ +{% block main %} + +
+
+
+ {% if home or work or fav1 or fav2 or fav3 %} + + {% endif %} + + +
+
+
+ + +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/amap_addr_input.html b/selfdrive/frogpilot/fleetmanager/templates/amap_addr_input.html new file mode 100644 index 000000000..1fe975ba7 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/amap_addr_input.html @@ -0,0 +1,215 @@ +{% extends "layout.html" %} + +{% block title %} + amap_addr_input +{% endblock %} +{% block main %} + + + + + 输入提示后查询 + + + + + + + + + + + + + +
+
+ +
+
+ +
+
+ + +
+ +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/amap_key_input.html b/selfdrive/frogpilot/fleetmanager/templates/amap_key_input.html new file mode 100644 index 000000000..eb2a9e6cf --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/amap_key_input.html @@ -0,0 +1,20 @@ +{% extends "layout.html" %} + +{% block title %} + amap_key_input +{% endblock %} + +{% block main %} +
+
+ 请输入您的高德地图 API KEY +
因系统升级，若于 2021/12/02 前申请 key 的人请重新申请新的「key」和「安全密钥」配对。
+
+ + + +
+
+
+ +{% endblock %} \ No newline at end of file diff --git a/selfdrive/frogpilot/fleetmanager/templates/app_token_input.html b/selfdrive/frogpilot/fleetmanager/templates/app_token_input.html new file mode 100644 index 000000000..b2dc5faa9 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/app_token_input.html @@ -0,0 +1,19 @@ +{% extends "layout.html" %} + +{% block title %} + MapBox key input +{% endblock %} + +{% block main %} +
+
+ Set your Mapbox Secret Token +
{{msg}}
+
+ + +
+
+
+ +{% endblock %} \ No newline at end of file diff --git a/selfdrive/frogpilot/fleetmanager/templates/error.html b/selfdrive/frogpilot/fleetmanager/templates/error.html new file mode 100644 index 000000000..cf4e89836 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/error.html @@ -0,0 +1,11 @@ +{% extends "layout.html" %} + +{% block title %} + Error +{% endblock %} + +{% block main %} +
Oops +



+ {{ error | safe }} +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/error_log.html b/selfdrive/frogpilot/fleetmanager/templates/error_log.html new file mode 100644 index 000000000..e8f527ef9 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/error_log.html @@ -0,0 +1,16 @@ +{% extends "layout.html" %} + +{% block title %} + Error Log +{% endblock %} + +{% block main %} +
+

Error Log of
{{ file_name }}

+
+{% endblock %} + +{% block unformated %} + 
{{ file_content }}
+

+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/error_logs.html b/selfdrive/frogpilot/fleetmanager/templates/error_logs.html new file mode 100644 index 000000000..103551f51 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/error_logs.html @@ -0,0 +1,14 @@ +{% extends "layout.html" %} + +{% block title %} + Error Logs +{% endblock %} + +{% block main %} +
+

Error Logs

+
+ {% for row in rows %} + {{ row }}
+ {% endfor %} +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/footage.html b/selfdrive/frogpilot/fleetmanager/templates/footage.html new file mode 100644 index 000000000..e9fc7a965 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/footage.html @@ -0,0 +1,28 @@ +{% extends "layout.html" %} + +{% block title %} + Dashcam Routes +{% endblock %} + +{% block main %} +
+

Dashcam Routes

+
+
+ {% for row, gif in zipped %} +
+
+ GIF +
+

{{ row }}

+
+
+ View Footage +
+
+
+
+
+ {% endfor %} +
+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/gmap_key_input.html b/selfdrive/frogpilot/fleetmanager/templates/gmap_key_input.html new file mode 100644 index 000000000..d407c20c6 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/gmap_key_input.html @@ -0,0 +1,18 @@ +{% extends "layout.html" %} + +{% block title %} + GMap key input +{% endblock %} + +{% block main %} +
+
+ Set your Google Map API Key +
+ + +
+
+
+ +{% endblock %} \ No newline at end of file diff --git a/selfdrive/frogpilot/fleetmanager/templates/index.html b/selfdrive/frogpilot/fleetmanager/templates/index.html new file mode 100644 index 000000000..7d33bcdb0 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/index.html @@ -0,0 +1,16 @@ +{% extends "layout.html" %} + +{% block title %} + Home +{% endblock %} + +{% block main %} +
+

Fleet Manager

+
+ View Dashcam Footage
+
Access Preserved Footage
+
View Screen Recordings
+
Access Error Logs
+
About Fleet Manager
+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/layout.html b/selfdrive/frogpilot/fleetmanager/templates/layout.html new file mode 100644 index 000000000..21d1e487e --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/layout.html @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + FrogPilot: {% block title %}{% endblock %} + + + +
{% block main %}{% endblock %}
+ {% block unformated %}{% endblock %} + + + + + + + diff --git a/selfdrive/frogpilot/fleetmanager/templates/nav_confirmation.html b/selfdrive/frogpilot/fleetmanager/templates/nav_confirmation.html new file mode 100644 index 000000000..ee2aa4acf --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/nav_confirmation.html @@ -0,0 +1,28 @@ +{% extends "layout.html" %} + +{% block title %} + Nav Search Confirmation +{% endblock %} + +{% block main %} +
+
{{addr}}
+
+
+
+ + + + + +
+
+
+{% endblock %} \ No newline at end of file diff --git a/selfdrive/frogpilot/fleetmanager/templates/nav_directions.html b/selfdrive/frogpilot/fleetmanager/templates/nav_directions.html new file mode 100644 index 000000000..c59582ea0 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/nav_directions.html @@ -0,0 +1,149 @@ +{% block main %} +
+
+ + +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/nonprime.html b/selfdrive/frogpilot/fleetmanager/templates/nonprime.html new file mode 100644 index 000000000..6daa6563a --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/nonprime.html @@ -0,0 +1,13 @@ +{% extends "layout.html" %} + +{% block title %} + Nav Driving Directions +{% endblock %} + +{% block main %} +{% with gmap_key=gmap_key, lon=lon, lat=lat, home=home, work=work, fav1=fav1, fav2=fav2, fav3=fav3 %} + {% include "addr_input.html" %} +{% endwith %} + +{% include "nav_directions.html" %} +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/preserved.html b/selfdrive/frogpilot/fleetmanager/templates/preserved.html new file mode 100644 index 000000000..f8f69c626 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/preserved.html @@ -0,0 +1,30 @@ +{% extends "layout.html" %} + +{% block title %} + Preserved Routes +{% endblock %} + +{% block main %} +
+

Preserved Routes

+
+
+ {% for route_path, gif_path, segment in zipped %} +
+
+
+ GIF +
+
+

{{ segment }}

+
+
+ View Footage +
+
+
+
+
+ {% endfor %} +
+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/prime.html b/selfdrive/frogpilot/fleetmanager/templates/prime.html new file mode 100644 index 000000000..78bfb3df3 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/prime.html @@ -0,0 +1,9 @@ +{% extends "layout.html" %} + +{% block title %} + Driving Directions +{% endblock %} + +{% block main %} +{% include "nav_directions.html" %} +{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/public_token_input.html b/selfdrive/frogpilot/fleetmanager/templates/public_token_input.html new file mode 100644 index 000000000..b64a88079 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/public_token_input.html @@ -0,0 +1,19 @@ +{% extends "layout.html" %} + +{% block title %} + addr_input +{% endblock %} + +{% block main %} +
+
+ Set your Mapbox Public Token +
{{msg}}
+
+ + +
+
+
+ +{% endblock %} \ No newline at end of file diff --git a/selfdrive/frogpilot/fleetmanager/templates/route.html b/selfdrive/frogpilot/fleetmanager/templates/route.html new file mode 100644 index 000000000..adccef867 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/route.html @@ -0,0 +1,68 @@ +{% extends "layout.html" %} + +{% block title %} + Dashcam Segments +{% endblock %} + + +{% block main %} +{% autoescape false %} +
+

Dashcam Segments (one per minute)

+
+ +

+ current segment: +
+ current view: +
+ download full route {{ query_type }} +

+ qcamera - + fcamera - + dcamera - + ecamera +

+ {{ links }} + +{% endautoescape %} +

+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/screenrecords.html b/selfdrive/frogpilot/fleetmanager/templates/screenrecords.html new file mode 100644 index 000000000..e1c995ed7 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/screenrecords.html @@ -0,0 +1,31 @@ +{% extends "layout.html" %} + +{% block title %} + Screen Recordings +{% endblock %} + +{% block main %} +
+

Screen Recordings

+
+ +

+ current view: +
+ download: {{ clip }}

+ + {% for row in rows %} + {{ row }}
+ {% endfor %} +

+{% endblock %} diff --git a/selfdrive/frogpilot/fleetmanager/templates/tools.html b/selfdrive/frogpilot/fleetmanager/templates/tools.html new file mode 100644 index 000000000..4f25863e8 --- /dev/null +++ b/selfdrive/frogpilot/fleetmanager/templates/tools.html @@ -0,0 +1,226 @@ +{% extends "layout.html" %} + +{% block title %} +Tools +{% endblock %} + +{% block main %} + + +
+
+
+ Lock/Unlock Doors (Toyota/Lexus Only) +
+ + +
+ +
+ +

Backup/Restore Toggle Values

+
+ + + +
+ +
+ +

Reset Toggle Values

+
+ +
+ +
+ +

Reboot Device

+
+ +
+
+ + +{% endblock %} diff --git a/selfdrive/frogpilot/frogpilot_functions.py b/selfdrive/frogpilot/frogpilot_functions.py new file mode 100644 index 000000000..7e6280eef --- /dev/null +++ b/selfdrive/frogpilot/frogpilot_functions.py @@ -0,0 +1,230 @@ +#!/usr/bin/env python3 +from pathlib import Path + +import datetime +import filecmp +import glob +import json +import shutil +import subprocess +import tarfile +import threading +import time + +from openpilot.common.basedir import BASEDIR +from openpilot.common.params_pyx import ParamKeyType +from openpilot.common.time import system_time_valid +from openpilot.system.hardware import HARDWARE + +from openpilot.selfdrive.frogpilot.assets.theme_manager import HOLIDAY_THEME_PATH, ThemeManager +from openpilot.selfdrive.frogpilot.frogpilot_utilities import run_cmd +from openpilot.selfdrive.frogpilot.frogpilot_variables import MODELS_PATH, THEME_SAVE_PATH, FrogPilotVariables, get_frogpilot_toggles, params + +def backup_directory(backup, destination, success_message, fail_message, minimum_backup_size=0, compressed=False): + if compressed: + destination_compressed = destination.with_suffix(".tar.gz") + if destination_compressed.exists(): + print("Backup already exists. Aborting") + return + + in_progress_destination = destination.parent / (destination.name + "_in_progress") + run_cmd(["sudo", "rsync", "-avq", f"{backup}/.", in_progress_destination], "", fail_message) + + in_progress_compressed = destination_compressed.with_suffix(".tar.gz_in_progress") + with tarfile.open(in_progress_compressed, "w:gz") as tar: + tar.add(in_progress_destination, arcname=destination.name) + + run_cmd(["sudo", "rm", "-rf", in_progress_destination], success_message, fail_message) + in_progress_compressed.rename(destination_compressed) + + compressed_backup_size = destination_compressed.stat().st_size + if minimum_backup_size == 0 or compressed_backup_size < minimum_backup_size: + params.put_int("MinimumBackupSize", compressed_backup_size) + else: + if destination.exists(): + print("Backup already exists. Aborting") + return + + run_cmd(["sudo", "rsync", "-avq", f"{backup}/.", destination], success_message, fail_message) + +def cleanup_backups(directory, limit, success_message, fail_message, compressed=False): + directory.mkdir(parents=True, exist_ok=True) + + backups = sorted(directory.glob("*_auto*"), key=lambda x: x.stat().st_mtime, reverse=True) + for backup in backups[:]: + if backup.name.endswith("_in_progress") or backup.name.endswith("_in_progress.tar.gz"): + run_cmd(["sudo", "rm", "-rf", backup], "", fail_message) + backups.remove(backup) + + for oldest_backup in backups[limit:]: + if oldest_backup.is_dir(): + run_cmd(["sudo", "rm", "-rf", oldest_backup], success_message, fail_message) + else: + run_cmd(["sudo", "rm", oldest_backup], success_message, fail_message) + +def backup_frogpilot(build_metadata): + backup_path = Path("/data/backups") + maximum_backups = 5 + cleanup_backups(backup_path, maximum_backups, "Successfully cleaned up old FrogPilot backups", "Failed to cleanup old FrogPilot backups", compressed=True) + + _, _, free = shutil.disk_usage(backup_path) + minimum_backup_size = params.get_int("MinimumBackupSize") + if free > minimum_backup_size * maximum_backups: + directory = Path(BASEDIR) + destination_directory = backup_path / f"{build_metadata.channel}_{build_metadata.openpilot.git_commit_date[12:-16]}_auto" + backup_directory(directory, destination_directory, f"Successfully backed up FrogPilot to {destination_directory}", f"Failed to backup FrogPilot to {destination_directory}", minimum_backup_size, compressed=True) + +def backup_toggles(params_storage): + for key in params.all_keys(): + if params.get_key_type(key) & ParamKeyType.PERSISTENT: + value = params.get(key) + if value is not None: + params_storage.put(key, value) + + backup_path = Path("/data/toggle_backups") + maximum_backups = 10 + cleanup_backups(backup_path, maximum_backups, "Successfully cleaned up old toggle backups", "Failed to cleanup old toggle backups") + + directory = Path("/data/params/d") + destination_directory = backup_path / f"{datetime.datetime.now().strftime('%Y-%m-%d_%I-%M%p').lower()}_auto" + backup_directory(directory, destination_directory, f"Successfully backed up toggles to {destination_directory}", f"Failed to backup toggles to {destination_directory}") + +def convert_params(params_storage): + print("Starting to convert params") + + def update_values(keys, mappings): + for key in keys: + for original, replacement in mappings.items(): + if params.get(key, encoding='utf-8') == original: + params.put(key, replacement) + if params_storage.get(key, encoding='utf-8') == original: + params_storage.put(key, replacement) + + priority_keys = ["SLCPriority1", "SLCPriority2", "SLCPriority3"] + update_values(priority_keys, {"Offline Maps": "Map Data"}) + + bottom_key = ["StartupMessageBottom"] + update_values(bottom_key, {"so I do what I want 🐸": "Human-tested, frog-approved 🐸"}) + + top_key = ["StartupMessageTop"] + update_values(top_key, {"Hippity hoppity this is my property": "Hop in and buckle up!"}) + + models = [ + ("Certified Herbalist", "CertifiedHerbalistDrives", "CertifiedHerbalistScore"), + ("Dissolved Oxygen", "DissolvedOxygenDrives", "DissolvedOxygenScore"), + ("Duck Amigo", "DuckAmigoDrives", "DuckAmigoScore"), + ("Los Angeles", "LosAngelesDrives", "LosAngelesScore"), + ("North Dakota", "NorthDakotaDrives", "NorthDakotaScore"), + ("Notre Dame", "NotreDameDrives", "NotreDameScore"), + ("Radical Turtle", "RadicalTurtleDrives", "RadicalTurtleScore"), + ("Recertified Herbalist", "RecertifiedHerbalistDrives", "RecertifiedHerbalistScore"), + ("SecretGoodOpenpilot", "SecretGoodOpenpilotDrives", "SecretGoodOpenpilotScore"), + ("WD-40", "WD40Drives", "WD40Score") + ] + + try: + model_drives_and_scores = json.loads(params.get("ModelDrivesAndScores") or "{}") + except Exception as error: + print(f"Error parsing ModelDrivesAndScores JSON: {error}. Initializing empty structure") + model_drives_and_scores = {} + + for model, drives_param, score_param in models: + drives = params.get_int(drives_param) + score = params.get_int(score_param) + + if drives > 0 or score > 0: + model_drives_and_scores[model] = { + "Drives": drives, + "Score": score + } + + params.remove(drives_param) + params_storage.remove(drives_param) + params.remove(score_param) + params_storage.remove(score_param) + + params.put("ModelDrivesAndScores", json.dumps(model_drives_and_scores)) + + print("Param conversion completed") + +def frogpilot_boot_functions(build_metadata, params_storage): + if params.get_bool("HasAcceptedTerms"): + params_storage.clear_all() + + source = THEME_SAVE_PATH / "distance_icons" + destination = THEME_SAVE_PATH / "theme_packs" + if source.exists(): + for item in source.iterdir(): + if item.is_dir(): + destination_path = destination / item.name / "distance_icons" + destination_path.mkdir(parents=True, exist_ok=True) + + for sub_item in item.iterdir(): + destination_file = destination_path / sub_item.name + if destination_file.exists(): + destination_file.unlink() + + shutil.move(sub_item, destination_path) + + if not any(item.iterdir()): + item.rmdir() + + if not any(source.iterdir()): + source.rmdir() + + FrogPilotVariables().update(holiday_theme="stock", started=False) + ThemeManager().update_active_theme(time_validated=system_time_valid(), frogpilot_toggles=get_frogpilot_toggles(), boot_run=True) + + def backup_thread(): + while not system_time_valid(): + print("Waiting for system time to become valid...") + time.sleep(1) + + subprocess.run(["pkill", "-SIGUSR1", "-f", "system.updated.updated"], check=False) + + backup_frogpilot(build_metadata) + backup_toggles(params_storage) + + threading.Thread(target=backup_thread, daemon=True).start() + +def setup_frogpilot(build_metadata): + run_cmd(["sudo", "mount", "-o", "remount,rw", "/persist"], "Successfully remounted /persist as read-write", "Failed to remount /persist") + + Path(MODELS_PATH).mkdir(parents=True, exist_ok=True) + Path(THEME_SAVE_PATH).mkdir(parents=True, exist_ok=True) + + for source_suffix, destination_suffix in [ + ("world_frog_day/colors", "theme_packs/frog/colors"), + ("world_frog_day/distance_icons", "theme_packs/frog-animated/distance_icons"), + ("world_frog_day/icons", "theme_packs/frog-animated/icons"), + ("world_frog_day/signals", "theme_packs/frog/signals"), + ("world_frog_day/sounds", "theme_packs/frog/sounds"), + ]: + source = Path(HOLIDAY_THEME_PATH) / source_suffix + destination = Path(THEME_SAVE_PATH) / destination_suffix + destination.mkdir(parents=True, exist_ok=True) + shutil.copytree(source, destination, dirs_exist_ok=True) + + for source_suffix, destination_suffix in [ + ("world_frog_day/steering_wheel/wheel.png", "steering_wheels/frog.png"), + ]: + source = Path(HOLIDAY_THEME_PATH) / source_suffix + destination = Path(THEME_SAVE_PATH) / destination_suffix + destination.parent.mkdir(parents=True, exist_ok=True) + shutil.copy2(source, destination) + + run_cmd(["sudo", "mount", "-o", "remount,rw", "/"], "Successfully remounted the file system as read-write", "Failed to remount the file system") + boot_logo_location = Path("/usr/comma/bg.jpg") + frogpilot_boot_logo = Path(__file__).parent / "assets/other_images/frogpilot_boot_logo.png" + if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False): + run_cmd(["sudo", "cp", frogpilot_boot_logo, boot_logo_location], "Successfully replaced boot logo", "Failed to replace boot logo") + + if build_metadata.channel == "FrogPilot-Development": + subprocess.run(["sudo", "python3", "/persist/frogsgomoo.py"], check=True) + +def uninstall_frogpilot(): + boot_logo_location = Path("/usr/comma/bg.jpg") + stock_boot_logo = Path(__file__).parent / "assets/other_images/original_bg.jpg" + run_cmd(["sudo", "cp", stock_boot_logo, boot_logo_location], "Successfully restored the stock boot logo", "Failed to restore the stock boot logo") + + HARDWARE.uninstall() diff --git a/selfdrive/frogpilot/frogpilot_process.py b/selfdrive/frogpilot/frogpilot_process.py new file mode 100644 index 000000000..81a8c6636 --- /dev/null +++ b/selfdrive/frogpilot/frogpilot_process.py @@ -0,0 +1,179 @@ +#!/usr/bin/env python3 +import datetime +import json +import time + +import openpilot.system.sentry as sentry + +from pathlib import Path + +from cereal import messaging +from openpilot.common.params import Params +from openpilot.common.realtime import Priority, config_realtime_process +from openpilot.common.time import system_time_valid +from openpilot.system.hardware import HARDWARE + +from openpilot.selfdrive.frogpilot.assets.model_manager import ModelManager, MODEL_DOWNLOAD_PARAM +from openpilot.selfdrive.frogpilot.assets.theme_manager import ThemeManager +from openpilot.selfdrive.frogpilot.controls.frogpilot_planner import FrogPilotPlanner +from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_tracking import FrogPilotTracking +from openpilot.selfdrive.frogpilot.frogpilot_functions import backup_toggles +from openpilot.selfdrive.frogpilot.frogpilot_utilities import flash_panda, is_url_pingable, lock_doors, run_thread_with_lock, send_sentry_reports, update_maps, update_openpilot +from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables, get_frogpilot_toggles, params, params_memory + +def assets_checks(model_manager, theme_manager): + if params_memory.get_bool("DownloadAllModels"): + run_thread_with_lock("download_all_models", model_manager.download_all_models) + + if params_memory.get_bool("FlashPanda"): + run_thread_with_lock("flash_panda", flash_panda) + + model_to_download = params_memory.get(MODEL_DOWNLOAD_PARAM, encoding='utf-8') + if model_to_download is not None: + run_thread_with_lock("download_model", model_manager.download_model, (model_to_download,)) + + report_data = json.loads(params_memory.get("IssueReported", encoding="utf-8") or "{}") + if report_data: + sentry.capture_report(report_data["DiscordUser"], report_data["Issue"], vars(get_frogpilot_toggles())) + params_memory.remove("IssueReported") + + assets = [ + ("ColorToDownload", "colors"), + ("DistanceIconToDownload", "distance_icons"), + ("IconToDownload", "icons"), + ("SignalToDownload", "signals"), + ("SoundToDownload", "sounds"), + ("WheelToDownload", "steering_wheels") + ] + + for param, asset_type in assets: + asset_to_download = params_memory.get(param, encoding='utf-8') + if asset_to_download is not None: + run_thread_with_lock("download_theme", theme_manager.download_theme, (asset_type, asset_to_download, param)) + +def update_checks(manually_updated, model_manager, now, theme_manager, frogpilot_toggles, boot_run=False): + while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")): + time.sleep(60) + + run_thread_with_lock("update_maps", update_maps, (now,)) + run_thread_with_lock("update_models", model_manager.update_models, (boot_run,)) + run_thread_with_lock("update_openpilot", update_openpilot, (manually_updated, frogpilot_toggles,)) + run_thread_with_lock("update_themes", theme_manager.update_themes, (frogpilot_toggles, boot_run,)) + + time.sleep(1) + +def frogpilot_thread(): + config_realtime_process(5, Priority.CTRL_LOW) + + error_log = Path(sentry.CRASHES_DIR) / "error.txt" + if error_log.is_file(): + error_log.unlink() + + params_storage = Params("/persist/params") + + frogpilot_planner = FrogPilotPlanner(error_log) + frogpilot_tracking = FrogPilotTracking() + frogpilot_variables = FrogPilotVariables() + model_manager = ModelManager() + theme_manager = ThemeManager() + + assets_checked = False + run_update_checks = False + started_previously = False + theme_updated = False + time_validated = False + toggles_updated = False + + frogpilot_toggles = get_frogpilot_toggles() + + toggles_last_updated = datetime.datetime.now() + + pm = messaging.PubMaster(['frogpilotPlan']) + sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'deviceState', 'driverMonitoringState', + 'managerState', 'modelV2', 'pandaStates', 'radarState', + 'frogpilotCarControl', 'frogpilotCarState', 'frogpilotNavigation'], + poll='modelV2', ignore_avg_freq=['radarState']) + + while True: + sm.update() + + now = datetime.datetime.now() + + started = sm['deviceState'].started + + if params_memory.get_bool("FrogPilotTogglesUpdated") or theme_updated: + frogpilot_variables.update(theme_manager.theme_assets["holiday_theme"], started) + frogpilot_toggles = get_frogpilot_toggles() + + theme_updated = theme_manager.update_active_theme(time_validated, frogpilot_toggles) + + if time_validated: + run_thread_with_lock("backup_toggles", backup_toggles, (params_storage,)) + + toggles_last_updated = now + toggles_updated = (now - toggles_last_updated).total_seconds() <= 1 + + if not started and started_previously: + frogpilot_planner = FrogPilotPlanner(error_log) + frogpilot_tracking = FrogPilotTracking() + + run_update_checks = True + + frogpilot_variables.update(theme_manager.theme_assets["holiday_theme"], started) + frogpilot_toggles = get_frogpilot_toggles() + + if frogpilot_toggles.lock_doors_timer != 0: + run_thread_with_lock("lock_doors", lock_doors, (frogpilot_toggles.lock_doors_timer, sm)) + elif started and not started_previously: + run_thread_with_lock("send_sentry_reports", send_sentry_reports, (frogpilot_toggles, frogpilot_variables, params, frogpilot_tracking.params_tracking)) + + radarless_model = frogpilot_toggles.radarless_model + + if error_log.is_file(): + error_log.unlink() + + if started and sm.updated['modelV2']: + frogpilot_planner.update(sm['carControl'], sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotCarState'], + sm['frogpilotNavigation'], sm['modelV2'], radarless_model, sm['radarState'], frogpilot_toggles) + frogpilot_planner.publish(sm, pm, toggles_updated) + + frogpilot_tracking.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl']) + elif not started and toggles_updated: + frogpilot_plan_send = messaging.new_message('frogpilotPlan') + frogpilot_plan_send.frogpilotPlan.togglesUpdated = toggles_updated + pm.send('frogpilotPlan', frogpilot_plan_send) + + started_previously = started + + if now.second % 2 == 0: + if not assets_checked: + assets_checks(model_manager, theme_manager) + + assets_checked = True + else: + assets_checked = False + + manually_updated = params_memory.get_bool("ManualUpdateInitiated") + + run_update_checks |= manually_updated + run_update_checks |= now.second == 0 and (now.minute % 60 == 0 or (now.minute % 5 == 0 and frogpilot_toggles.frogs_go_moo)) + run_update_checks &= time_validated + + if run_update_checks: + theme_updated = theme_manager.update_active_theme(time_validated, frogpilot_toggles) + run_thread_with_lock("update_checks", update_checks, (manually_updated, model_manager, now, theme_manager, frogpilot_toggles)) + + run_update_checks = False + elif not time_validated: + time_validated = system_time_valid() + if not time_validated: + continue + + theme_updated = theme_manager.update_active_theme(time_validated, frogpilot_toggles) + run_thread_with_lock("update_checks", update_checks, (manually_updated, model_manager, now, theme_manager, frogpilot_toggles, True)) + +def main(): + frogpilot_thread() + +if __name__ == "__main__": + main() diff --git a/selfdrive/frogpilot/frogpilot_utilities.py b/selfdrive/frogpilot/frogpilot_utilities.py new file mode 100644 index 000000000..8a4784414 --- /dev/null +++ b/selfdrive/frogpilot/frogpilot_utilities.py @@ -0,0 +1,250 @@ +#!/usr/bin/env python3 +import http.client +import json +import math +import numpy as np +import shutil +import subprocess +import threading +import time +import urllib.request +import zipfile + +import openpilot.system.sentry as sentry + +from pathlib import Path +from urllib.error import HTTPError, URLError + +from cereal import log +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_DMON, DT_HW +from openpilot.common.time import system_time_valid +from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD +from openpilot.system.hardware import HARDWARE +from panda import Panda + +from openpilot.selfdrive.frogpilot.frogpilot_variables import MAPD_PATH, MAPS_PATH, params, params_memory + +EARTH_RADIUS = 6378137 # Radius of the Earth in meters + +locks = { + "backup_toggles": threading.Lock(), + "download_all_models": threading.Lock(), + "download_model": threading.Lock(), + "download_theme": threading.Lock(), + "flash_panda": threading.Lock(), + "lock_doors": threading.Lock(), + "send_sentry_reports": threading.Lock(), + "update_checks": threading.Lock(), + "update_maps": threading.Lock(), + "update_models": threading.Lock(), + "update_openpilot": threading.Lock(), + "update_themes": threading.Lock() +} + +running_threads = {} + +def run_thread_with_lock(name, target, args=()): + if not running_threads.get(name, threading.Thread()).is_alive(): + with locks[name]: + def wrapped_target(*t_args): + try: + target(*t_args) + except HTTPError as error: + print(f"HTTP error while accessing {api_url}: {error}") + except subprocess.CalledProcessError as error: + print(f"CalledProcessError in thread '{name}': {error}") + except Exception as error: + print(f"Error in thread '{name}': {error}") + sentry.capture_exception(error) + thread = threading.Thread(target=wrapped_target, args=args, daemon=True) + thread.start() + running_threads[name] = thread + +def calculate_distance_to_point(ax, ay, bx, by): + a = math.sin((bx - ax) / 2) * math.sin((bx - ax) / 2) + math.cos(ax) * math.cos(bx) * math.sin((by - ay) / 2) * math.sin((by - ay) / 2) + c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a)) + return EARTH_RADIUS * c + +def calculate_lane_width(lane, current_lane, road_edge): + current_x = np.array(current_lane.x) + current_y = np.array(current_lane.y) + + lane_y_interp = interp(current_x, np.array(lane.x), np.array(lane.y)) + road_edge_y_interp = interp(current_x, np.array(road_edge.x), np.array(road_edge.y)) + + distance_to_lane = np.mean(np.abs(current_y - lane_y_interp)) + distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp)) + + return float(min(distance_to_lane, distance_to_road_edge)) + +# Credit goes to Pfeiferj! +def calculate_road_curvature(modelData, v_ego): + orientation_rate = np.abs(modelData.orientationRate.z) + velocity = modelData.velocity.x + max_pred_lat_acc = np.amax(orientation_rate * velocity) + return max_pred_lat_acc / max(v_ego, 1)**2 + +def delete_file(path): + path = Path(path) + try: + if path.is_file(): + path.unlink() + print(f"Deleted file: {path}") + elif path.is_dir(): + shutil.rmtree(path) + print(f"Deleted directory: {path}") + else: + print(f"File not found: {path}") + except Exception as error: + print(f"An error occurred when deleting {path}: {error}") + sentry.capture_exception(error) + +def extract_zip(zip_file, extract_path): + zip_file = Path(zip_file) + extract_path = Path(extract_path) + print(f"Extracting {zip_file} to {extract_path}") + + try: + with zipfile.ZipFile(zip_file, "r") as zip_ref: + zip_ref.extractall(extract_path) + zip_file.unlink() + print(f"Extraction completed: {zip_file} has been removed") + except Exception as error: + print(f"An error occurred while extracting {zip_file}: {error}") + sentry.capture_exception(error) + +def flash_panda(): + HARDWARE.reset_internal_panda() + params_memory.put_bool("FlashPanda", False) + +def is_url_pingable(url, timeout=5): + try: + request = urllib.request.Request( + url, + headers={ + "User-Agent": "Mozilla/5.0 (compatible; Python urllib)", + "Accept": "*/*", + "Connection": "keep-alive" + } + ) + urllib.request.urlopen(request, timeout=timeout) + return True + except TimeoutError: + print(f"TimeoutError: The operation timed out for {url}") + return False + except http.client.RemoteDisconnected: + print(f"RemoteDisconnected: The server closed the connection without responding for {url}") + return False + except URLError as error: + print(f"URLError encountered for {url}: {error}") + return False + except Exception as error: + print(f"Failed to ping {url}: {error}") + sentry.capture_exception(error) + return False + +def lock_doors(lock_doors_timer, sm): + while any(proc.name == "dmonitoringd" and proc.running for proc in sm["managerState"].processes): + time.sleep(DT_HW) + sm.update() + + params.put_bool("IsDriverViewEnabled", True) + + while not any(proc.name == "dmonitoringd" and proc.running for proc in sm["managerState"].processes): + time.sleep(DT_HW) + sm.update() + + start_time = time.monotonic() + while True: + elapsed_time = time.monotonic() - start_time + if elapsed_time >= lock_doors_timer: + break + + if any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown): + params.remove("IsDriverViewEnabled") + return + + if sm["driverMonitoringState"].faceDetected or not sm.alive["driverMonitoringState"]: + start_time = time.monotonic() + + time.sleep(DT_DMON) + sm.update() + + panda = Panda() + panda.set_safety_mode(panda.SAFETY_ALLOUTPUT) + panda.can_send(0x750, LOCK_CMD, 0) + panda.set_safety_mode(panda.SAFETY_TOYOTA) + panda.send_heartbeat() + + params.remove("IsDriverViewEnabled") + +def run_cmd(cmd, success_message, fail_message): + try: + subprocess.check_call(cmd) + print(success_message) + except Exception as error: + print(f"Unexpected error occurred: {error}") + print(fail_message) + sentry.capture_exception(error) + +def send_sentry_reports(frogpilot_toggles, frogpilot_variables, params, params_tracking): + while not is_url_pingable("https://sentry.io"): + time.sleep(1) + + sentry.capture_fingerprint(frogpilot_toggles, params, params_tracking) + sentry.capture_model(frogpilot_toggles.model_name) + sentry.capture_user(frogpilot_variables.short_branch) + +def update_maps(now): + while not MAPD_PATH.exists(): + time.sleep(60) + + maps_selected = json.loads(params.get("MapsSelected", encoding="utf-8") or "{}") + if not maps_selected.get("nations") and not maps_selected.get("states"): + return + + day = now.day + is_first = day == 1 + is_Sunday = now.weekday() == 6 + schedule = params.get_int("PreferredSchedule") + + maps_downloaded = MAPS_PATH.exists() + if maps_downloaded and (schedule == 0 or (schedule == 1 and not is_Sunday) or (schedule == 2 and not is_first)): + return + + suffix = "th" if 4 <= day <= 20 or 24 <= day <= 30 else ["st", "nd", "rd"][day % 10 - 1] + todays_date = now.strftime(f"%B {day}{suffix}, %Y") + + if maps_downloaded and params.get("LastMapsUpdate", encoding="utf-8") == todays_date: + return + + if params.get("OSMDownloadProgress", encoding="utf-8") is None: + params_memory.put("OSMDownloadLocations", json.dumps(maps_selected)) + + while params.get("OSMDownloadProgress", encoding="utf-8") is not None: + time.sleep(60) + + params.put("LastMapsUpdate", todays_date) + +def update_openpilot(manually_updated, frogpilot_toggles): + if not frogpilot_toggles.automatic_updates or manually_updated: + return + + subprocess.run(["pkill", "-SIGUSR1", "-f", "system.updated.updated"], check=False) + time.sleep(60) + + if not params.get_bool("UpdaterFetchAvailable"): + return + + while params.get("UpdaterState", encoding="utf-8") != "idle": + time.sleep(60) + + subprocess.run(["pkill", "-SIGHUP", "-f", "system.updated.updated"], check=False) + while not params.get_bool("UpdateAvailable"): + time.sleep(60) + + while params.get_bool("IsOnroad") or running_threads.get("lock_doors", threading.Thread()).is_alive(): + time.sleep(60) + + HARDWARE.reboot() diff --git a/selfdrive/frogpilot/frogpilot_variables.py b/selfdrive/frogpilot/frogpilot_variables.py new file mode 100644 index 000000000..849948492 --- /dev/null +++ b/selfdrive/frogpilot/frogpilot_variables.py @@ -0,0 +1,748 @@ +#!/usr/bin/env python3 +import json +import math +import random + +from pathlib import Path +from types import SimpleNamespace + +from cereal import car, log +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params, UnknownKeyName +from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN +from openpilot.selfdrive.modeld.constants import ModelConstants +from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING +from openpilot.system.version import get_build_metadata +from panda import ALTERNATIVE_EXPERIENCE + +params = Params() +params_default = Params("/dev/shm/params_default") +params_memory = Params("/dev/shm/params") + +GearShifter = car.CarState.GearShifter +NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown] + +CITY_SPEED_LIMIT = 25 # 55mph is typically the minimum speed for highways +CRUISING_SPEED = 5 # Roughly the speed cars go when not touching the gas while in drive +LANE_WIDTH = 3.2 # Roughly the average lane width +MODEL_LENGTH = ModelConstants.IDX_N # Minimum length of the model +PLANNER_TIME = ModelConstants.T_IDXS[MODEL_LENGTH - 1] # Length of time the model projects out for +THRESHOLD = 0.63 # Requires the condition to be true for ~1 second +TO_RADIANS = math.pi / 180 # Conversion factor from degrees to radians + +ACTIVE_THEME_PATH = Path(__file__).parent / "assets/active_theme" +METADATAS_PATH = Path(__file__).parent / "assets/model_metadata" +MODELS_PATH = Path("/data/models") +RANDOM_EVENTS_PATH = Path(__file__).parent / "assets/random_events" +THEME_SAVE_PATH = Path("/data/themes") + +MAPD_PATH = Path("/data/media/0/osm/mapd") +MAPS_PATH = Path("/data/media/0/osm/offline") + +DEFAULT_MODEL = "national-public-radio" +DEFAULT_MODEL_NAME = "National Public Radio 👀📡" +DEFAULT_MODEL_VERSION = "v6" + +DEFAULT_CLASSIC_MODEL = "wd-40" +DEFAULT_CLASSIC_MODEL_NAME = "WD-40 (Default) 👀📡" +DEFAULT_CLASSIC_MODEL_VERSION = "v2" + +def get_frogpilot_toggles(block=True): + return SimpleNamespace(**json.loads(params_memory.get("FrogPilotToggles", block=block) or "{}")) + +def has_prime(): + return params.get_int("PrimeType") > 0 + +def update_frogpilot_toggles(): + params_memory.put_bool("FrogPilotTogglesUpdated", True) + +frogpilot_default_params: list[tuple[str, str | bytes, int]] = [ + ("AccelerationPath", "1", 2), + ("AccelerationProfile", "2", 0), + ("AdjacentLeadsUI", "0", 3), + ("AdjacentPath", "0", 3), + ("AdjacentPathMetrics", "0", 3), + ("AdvancedCustomUI", "0", 2), + ("AdvancedLateralTune", "0", 3), + ("AggressiveFollow", "1.25", 2), + ("AggressiveJerkAcceleration", "50", 3), + ("AggressiveJerkDanger", "100", 3), + ("AggressiveJerkDeceleration", "50", 3), + ("AggressiveJerkSpeed", "50", 3), + ("AggressiveJerkSpeedDecrease", "50", 3), + ("AggressivePersonalityProfile", "1", 2), + ("AlertVolumeControl", "0", 2), + ("AlwaysOnLateral", "1", 0), + ("AlwaysOnLateralLKAS", "0", 0), + ("AlwaysOnLateralMain", "1", 1), + ("AMapKey1", "", 0), + ("AMapKey2", "", 0), + ("AutomaticallyUpdateModels", "1", 1), + ("AutomaticUpdates", "1", 0), + ("AvailableModels", "", 1), + ("AvailableModelNames", "", 1), + ("BigMap", "0", 2), + ("BlacklistedModels", "", 2), + ("BlindSpotMetrics", "1", 3), + ("BlindSpotPath", "1", 0), + ("BorderMetrics", "0", 3), + ("CameraView", "3", 2), + ("CarMake", "", 0), + ("CarModel", "", 0), + ("CarModelName", "", 0), + ("CECurves", "1", 1), + ("CECurvesLead", "0", 1), + ("CELead", "0", 1), + ("CEModelStopTime", "8", 2), + ("CENavigation", "1", 2), + ("CENavigationIntersections", "0", 2), + ("CENavigationLead", "1", 2), + ("CENavigationTurns", "1", 2), + ("CESignalSpeed", "55", 2), + ("CESignalLaneDetection", "1", 2), + ("CESlowerLead", "0", 1), + ("CESpeed", "0", 1), + ("CESpeedLead", "0", 1), + ("CEStoppedLead", "0", 1), + ("ClusterOffset", "1.015", 2), + ("Compass", "0", 1), + ("ConditionalExperimental", "1", 0), + ("CurveSensitivity", "100", 2), + ("CurveSpeedControl", "0", 1), + ("CustomAlerts", "1", 0), + ("CustomColors", "frog", 0), + ("CustomCruise", "1", 2), + ("CustomCruiseLong", "5", 2), + ("CustomDistanceIcons", "stock", 0), + ("CustomIcons", "frog-animated", 0), + ("CustomPersonalities", "0", 2), + ("CustomSignals", "frog", 0), + ("CustomSounds", "frog", 0), + ("CustomUI", "1", 0), + ("DecelerationProfile", "1", 2), + ("DeveloperUI", "0", 3), + ("DeviceManagement", "1", 1), + ("DeviceShutdown", "9", 1), + ("DisableOnroadUploads", "0", 2), + ("DisableOpenpilotLongitudinal", "0", 2), + ("DiscordUsername", "", 0), + ("DisengageVolume", "101", 2), + ("DriverCamera", "0", 1), + ("DynamicPathWidth", "0", 2), + ("DynamicPedalsOnUI", "1", 2), + ("EngageVolume", "101", 2), + ("ExperimentalGMTune", "0", 2), + ("ExperimentalModeActivation", "1", 1), + ("ExperimentalModels", "", 1), + ("ExperimentalModeViaDistance", "1", 1), + ("ExperimentalModeViaLKAS", "1", 1), + ("ExperimentalModeViaTap", "0", 1), + ("Fahrenheit", "0", 3), + ("ForceAutoTune", "0", 2), + ("ForceAutoTuneOff", "0", 2), + ("ForceFingerprint", "0", 2), + ("ForceMPHDashboard", "0", 2), + ("ForceStandstill", "0", 2), + ("ForceStops", "0", 2), + ("FPSCounter", "1", 3), + ("FrogsGoMoosTweak", "1", 2), + ("FullMap", "0", 2), + ("GasRegenCmd", "1", 2), + ("GMapKey", "", 0), + ("GoatScream", "0", 2), + ("GreenLightAlert", "0", 0), + ("HideAlerts", "0", 2), + ("HideCSCUI", "0", 2), + ("HideLeadMarker", "0", 2), + ("HideMapIcon", "0", 2), + ("HideMaxSpeed", "0", 2), + ("HideSpeed", "0", 2), + ("HideSpeedLimit", "0", 2), + ("HolidayThemes", "1", 0), + ("HumanAcceleration", "1", 2), + ("HumanFollowing", "1", 2), + ("IncreasedStoppedDistance", "0", 2), + ("IncreaseThermalLimits", "0", 3), + ("JerkInfo", "0", 3), + ("LaneChangeCustomizations", "0", 0), + ("LaneChangeTime", "2.0", 0), + ("LaneDetectionWidth", "0", 2), + ("LaneLinesWidth", "4", 2), + ("LateralMetrics", "1", 3), + ("LateralTune", "1", 2), + ("LeadDepartingAlert", "0", 0), + ("LeadDetectionThreshold", "35", 3), + ("LeadInfo", "1", 3), + ("LockDoors", "1", 0), + ("LockDoorsTimer", "0", 0), + ("LongitudinalMetrics", "1", 3), + ("LongitudinalTune", "1", 0), + ("LongPitch", "1", 2), + ("LoudBlindspotAlert", "0", 0), + ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING), 3), + ("MapAcceleration", "0", 2), + ("MapDeceleration", "0", 2), + ("MapGears", "0", 2), + ("MapboxPublicKey", "", 0), + ("MapboxSecretKey", "", 0), + ("MapsSelected", "", 0), + ("MapStyle", "0", 2), + ("MapTurnControl", "1", 1), + ("MaxDesiredAcceleration", "4.0", 3), + ("MinimumLaneChangeSpeed", str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS), 2), + ("Model", DEFAULT_CLASSIC_MODEL, 1), + ("ModelDrivesAndScores", "", 2), + ("ModelRandomizer", "0", 2), + ("ModelUI", "1", 2), + ("ModelVersion", DEFAULT_CLASSIC_MODEL_VERSION, 2), + ("ModelVersions", "", 2), + ("MTSCCurvatureCheck", "1", 2), + ("NavigationUI", "1", 2), + ("NewLongAPI", "0", 2), + ("NewLongAPIGM", "1", 2), + ("NNFF", "1", 2), + ("NNFFLite", "1", 2), + ("NoLogging", "0", 2), + ("NoUploads", "0", 2), + ("NudgelessLaneChange", "0", 0), + ("NumericalTemp", "1", 3), + ("OfflineMode", "0", 2), + ("Offset1", "5", 0), + ("Offset2", "5", 0), + ("Offset3", "5", 0), + ("Offset4", "10", 0), + ("OneLaneChange", "1", 2), + ("OnroadDistanceButton", "0", 0), + ("openpilotMinutes", "0", 0), + ("PathEdgeWidth", "20", 2), + ("PathWidth", "6.1", 2), + ("PauseAOLOnBrake", "0", 2), + ("PauseLateralOnSignal", "0", 2), + ("PauseLateralSpeed", "0", 2), + ("PedalsOnUI", "0", 2), + ("PersonalizeOpenpilot", "1", 0), + ("PreferredSchedule", "2", 0), + ("PromptDistractedVolume", "101", 2), + ("PromptVolume", "101", 2), + ("QOLLateral", "1", 2), + ("QOLLongitudinal", "1", 2), + ("QOLVisuals", "1", 0), + ("RainbowPath", "0", 1), + ("RandomEvents", "0", 1), + ("RefuseVolume", "101", 2), + ("RelaxedFollow", "1.75", 2), + ("RelaxedJerkAcceleration", "100", 3), + ("RelaxedJerkDanger", "100", 3), + ("RelaxedJerkDeceleration", "100", 3), + ("RelaxedJerkSpeed", "100", 3), + ("RelaxedJerkSpeedDecrease", "100", 3), + ("RelaxedPersonalityProfile", "1", 2), + ("ReverseCruise", "0", 2), + ("RoadEdgesWidth", "2", 2), + ("RoadNameUI", "1", 2), + ("RotatingWheel", "1", 1), + ("ScreenBrightness", "101", 2), + ("ScreenBrightnessOnroad", "101", 2), + ("ScreenManagement", "1", 2), + ("ScreenRecorder", "1", 2), + ("ScreenTimeout", "30", 2), + ("ScreenTimeoutOnroad", "30", 2), + ("SearchInput", "0", 0), + ("SetSpeedLimit", "0", 2), + ("SetSpeedOffset", "0", 2), + ("ShowCEMStatus", "1", 2), + ("ShowCPU", "1", 3), + ("ShowGPU", "0", 3), + ("ShowIP", "0", 3), + ("ShowMemoryUsage", "1", 3), + ("ShowSLCOffset", "1", 2), + ("ShowSpeedLimits", "1", 0), + ("ShowSteering", "0", 3), + ("ShowStoppingPoint", "0", 3), + ("ShowStoppingPointMetrics", "0", 3), + ("ShowStorageLeft", "0", 3), + ("ShowStorageUsed", "0", 3), + ("Sidebar", "0", 0), + ("SidebarMetrics", "1", 3), + ("SignalMetrics", "0", 2), + ("SLCConfirmation", "0", 0), + ("SLCConfirmationHigher", "0", 0), + ("SLCConfirmationLower", "0", 0), + ("SLCFallback", "2", 2), + ("SLCLookaheadHigher", "5", 2), + ("SLCLookaheadLower", "5", 2), + ("SLCOverride", "1", 2), + ("SLCPriority1", "Navigation", 2), + ("SLCPriority2", "Map Data", 2), + ("SLCPriority3", "Dashboard", 2), + ("SmartTurnControl", "0", 1), + ("SNGHack", "1", 2), + ("SpeedLimitChangedAlert", "1", 0), + ("SpeedLimitController", "1", 0), + ("SpeedLimitSources", "0", 3), + ("StartupMessageBottom", "Human-tested, frog-approved 🐸", 0), + ("StartupMessageTop", "Hop in and buckle up!", 0), + ("StandardFollow", "1.45", 2), + ("StandardJerkAcceleration", "100", 3), + ("StandardJerkDanger", "100", 3), + ("StandardJerkDeceleration", "100", 3), + ("StandardJerkSpeed", "100", 3), + ("StandardJerkSpeedDecrease", "100", 3), + ("StandardPersonalityProfile", "1", 2), + ("StandbyMode", "0", 2), + ("StaticPedalsOnUI", "0", 2), + ("SteerFriction", "0", 3), + ("SteerFrictionStock", "0", 3), + ("SteerKP", "0", 3), + ("SteerKPStock", "0", 3), + ("SteerLatAccel", "0", 3), + ("SteerLatAccelStock", "0", 3), + ("SteerRatio", "0", 3), + ("SteerRatioStock", "0", 3), + ("StoppedTimer", "0", 1), + ("TacoTune", "0", 2), + ("ToyotaDoors", "1", 0), + ("TrafficFollow", "0.5", 2), + ("TrafficJerkAcceleration", "50", 3), + ("TrafficJerkDanger", "100", 3), + ("TrafficJerkDeceleration", "50", 3), + ("TrafficJerkSpeed", "50", 3), + ("TrafficJerkSpeedDecrease", "50", 3), + ("TrafficPersonalityProfile", "1", 2), + ("TuningInfo", "0", 3), + ("TuningLevel", "0", 0), + ("TuningLevelConfirmed", "0", 0), + ("TurnAggressiveness", "100", 2), + ("TurnDesires", "0", 2), + ("UnlimitedLength", "1", 2), + ("UnlockDoors", "1", 0), + ("UserCurvature", "", 1), + ("UseSI", "1", 3), + ("UseVienna", "0", 2), + ("VisionTurnControl", "1", 1), + ("VoltSNG", "0", 2), + ("WarningImmediateVolume", "101", 2), + ("WarningSoftVolume", "101", 2), + ("WheelIcon", "frog", 0), + ("WheelSpeed", "0", 2) +] + +misc_tuning_levels: list[tuple[str, str | bytes, int]] = [ + ("DeveloperMetrics", "", 3), + ("DeveloperWidgets", "", 3), + ("SLCPriority", "", 2), + ("SLCQOL", "", 0), + ("StartupAlert", "", 0) +] + +class FrogPilotVariables: + def __init__(self): + self.frogpilot_toggles = get_frogpilot_toggles(block=False) + self.tuning_levels = {key: lvl for key, _, lvl in frogpilot_default_params + misc_tuning_levels} + + self.short_branch = get_build_metadata().channel + self.development_branch = self.short_branch == "FrogPilot-Development" + self.release_branch = self.short_branch == "FrogPilot" + self.staging_branch = self.short_branch == "FrogPilot-Staging" + self.testing_branch = self.short_branch == "FrogPilot-Testing" + + self.frogpilot_toggles.frogs_go_moo = Path("/persist/frogsgomoo.py").is_file() + self.frogpilot_toggles.block_user = self.development_branch and not self.frogpilot_toggles.frogs_go_moo + + for k, v, _ in frogpilot_default_params: + params_default.put(k, v) + + params_memory.put("FrogPilotTuningLevels", json.dumps(self.tuning_levels)) + + def update(self, holiday_theme, started): + default = params_default + level = self.tuning_levels + toggle = self.frogpilot_toggles + + tuning_level = params.get_int("TuningLevel") if params.get_bool("TuningLevelConfirmed") else 3 + + toggle.is_metric = params.get_bool("IsMetric") + distance_conversion = 1 if toggle.is_metric else CV.FOOT_TO_METER + small_distance_conversion = 1 if toggle.is_metric else CV.INCH_TO_CM + speed_conversion = CV.KPH_TO_MS if toggle.is_metric else CV.MPH_TO_MS + + msg_bytes = params.get("CarParams" if started else "CarParamsPersistent", block=started) + if msg_bytes: + with car.CarParams.from_bytes(msg_bytes) as CP: + always_on_lateral_set = CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL + car_make = CP.carName + toggle.car_model = CP.carFingerprint + has_auto_tune = car_make in {"hyundai", "toyota"} and CP.lateralTuning.which() == "torque" + has_bsm = CP.enableBsm + has_pedal = CP.enableGasInterceptor + has_radar = not CP.radarUnavailable + is_pid_car = CP.lateralTuning.which() == "pid" + kiBP = list(CP.longitudinalTuning.kiBP) + kiV = list(CP.longitudinalTuning.kiV) + max_acceleration_enabled = CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX + openpilot_longitudinal = CP.openpilotLongitudinalControl + pcm_cruise = CP.pcmCruise + stoppingDecelRate = CP.stoppingDecelRate + vEgoStopping = CP.vEgoStopping + vEgoStarting = CP.vEgoStarting + else: + always_on_lateral_set = False + car_make = "MOCK" + toggle.car_model = "MOCK" + has_auto_tune = False + has_bsm = False + has_pedal = False + has_radar = False + is_pid_car = False + kiBP = [0.] + kiV = [0.] + max_acceleration_enabled = False + openpilot_longitudinal = False + pcm_cruise = False + stoppingDecelRate = 0.8 + vEgoStopping = 0.5 + vEgoStarting = 0.5 + + msg_bytes = params.get("LiveTorqueParameters") + if msg_bytes: + with log.LiveTorqueParametersData.from_bytes(msg_bytes) as LTP: + toggle.liveValid = LTP.liveValid + else: + toggle.liveValid = False + + toggle.allow_far_lead_tracking = self.testing_branch and tuning_level >= 3 and has_radar or self.frogpilot_toggles.frogs_go_moo + + advanced_custom_ui = params.get_bool("AdvancedCustomUI") if tuning_level >= level["AdvancedCustomUI"] else default.get_bool("AdvancedCustomUI") + toggle.hide_alerts = advanced_custom_ui and (params.get_bool("HideAlerts") if tuning_level >= level["HideAlerts"] else default.get_bool("HideAlerts")) + toggle.hide_lead_marker = advanced_custom_ui and (params.get_bool("HideLeadMarker") if tuning_level >= level["HideLeadMarker"] else default.get_bool("HideLeadMarker")) + toggle.hide_map_icon = advanced_custom_ui and (params.get_bool("HideMapIcon") if tuning_level >= level["HideMapIcon"] else default.get_bool("HideMapIcon")) + toggle.hide_max_speed = advanced_custom_ui and (params.get_bool("HideMaxSpeed") if tuning_level >= level["HideMaxSpeed"] else default.get_bool("HideMaxSpeed")) + toggle.hide_speed = advanced_custom_ui and (params.get_bool("HideSpeed") if tuning_level >= level["HideSpeed"] else default.get_bool("HideSpeed")) + toggle.hide_speed_limit = advanced_custom_ui and (params.get_bool("HideSpeedLimit") if tuning_level >= level["HideSpeedLimit"] else default.get_bool("HideSpeedLimit")) + toggle.use_wheel_speed = advanced_custom_ui and (params.get_bool("WheelSpeed") if tuning_level >= level["WheelSpeed"] else default.get_bool("WheelSpeed")) + + advanced_lateral_tuning = params.get_bool("AdvancedLateralTune") if tuning_level >= level["AdvancedLateralTune"] else default.get_bool("AdvancedLateralTune") + toggle.force_auto_tune = advanced_lateral_tuning and not has_auto_tune and not is_pid_car and (params.get_bool("ForceAutoTune") if tuning_level >= level["ForceAutoTune"] else default.get_bool("ForceAutoTune")) + toggle.force_auto_tune_off = advanced_lateral_tuning and has_auto_tune and not is_pid_car and (params.get_bool("ForceAutoTuneOff") if tuning_level >= level["ForceAutoTuneOff"] else default.get_bool("ForceAutoTuneOff")) + stock_steer_friction = params.get_float("SteerFrictionStock") + toggle.steer_friction = params.get_float("SteerFriction") if advanced_lateral_tuning and tuning_level >= level["SteerFriction"] else stock_steer_friction + toggle.use_custom_steer_friction = toggle.steer_friction != stock_steer_friction and not is_pid_car and not toggle.force_auto_tune or toggle.force_auto_tune_off + toggle.steer_kp = [[0], [params.get_float("SteerKP") if advanced_lateral_tuning and not is_pid_car and tuning_level >= level["SteerKP"] else params.get_float("SteerKPStock")]] + stock_steer_lat_accel_factor = params.get_float("SteerLatAccelStock") + toggle.steer_lat_accel_factor = params.get_float("SteerLatAccel") if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else stock_steer_lat_accel_factor + toggle.use_custom_lat_accel_factor = toggle.steer_lat_accel_factor != stock_steer_lat_accel_factor and not is_pid_car and not toggle.force_auto_tune or toggle.force_auto_tune_off + stock_steer_ratio = params.get_float("SteerRatioStock") + toggle.steer_ratio = params.get_float("SteerRatio") if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else stock_steer_ratio + toggle.use_custom_steer_ratio = toggle.steer_ratio != stock_steer_ratio and not toggle.force_auto_tune or toggle.force_auto_tune_off + + toggle.alert_volume_control = params.get_bool("AlertVolumeControl") if tuning_level >= level["AlertVolumeControl"] else default.get_bool("AlertVolumeControl") + toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_control and tuning_level >= level["DisengageVolume"] else default.get_int("DisengageVolume") + toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_control and tuning_level >= level["EngageVolume"] else default.get_int("EngageVolume") + toggle.prompt_volume = params.get_int("PromptVolume") if toggle.alert_volume_control and tuning_level >= level["PromptVolume"] else default.get_int("PromptVolume") + toggle.promptDistracted_volume = params.get_int("PromptDistractedVolume") if toggle.alert_volume_control and tuning_level >= level["PromptDistractedVolume"] else default.get_int("PromptDistractedVolume") + toggle.refuse_volume = params.get_int("RefuseVolume") if toggle.alert_volume_control and tuning_level >= level["RefuseVolume"] else default.get_int("RefuseVolume") + toggle.warningSoft_volume = params.get_int("WarningSoftVolume") if toggle.alert_volume_control and tuning_level >= level["WarningSoftVolume"] else default.get_int("WarningSoftVolume") + toggle.warningImmediate_volume = max(params.get_int("WarningImmediateVolume"), 25) if toggle.alert_volume_control and tuning_level >= level["WarningImmediateVolume"] else default.get_int("WarningImmediateVolume") + + toggle.always_on_lateral = params.get_bool("AlwaysOnLateral") if tuning_level >= level["AlwaysOnLateral"] else default.get_bool("AlwaysOnLateral") + toggle.always_on_lateral_set = toggle.always_on_lateral and always_on_lateral_set + toggle.always_on_lateral_lkas = toggle.always_on_lateral_set and car_make != "subaru" and (params.get_bool("AlwaysOnLateralLKAS") if tuning_level >= level["AlwaysOnLateralLKAS"] else default.get_bool("AlwaysOnLateralLKAS")) + toggle.always_on_lateral_main = toggle.always_on_lateral_set and (params.get_bool("AlwaysOnLateralMain") if tuning_level >= level["AlwaysOnLateralMain"] else default.get_bool("AlwaysOnLateralMain")) + toggle.always_on_lateral_pause_speed = params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral_set and tuning_level >= level["PauseAOLOnBrake"] else default.get_int("PauseAOLOnBrake") + + toggle.automatic_updates = params.get_bool("AutomaticUpdates") if tuning_level >= level["AutomaticUpdates"] else default.get_bool("AutomaticUpdates") + + toggle.cluster_offset = params.get_float("ClusterOffset") if car_make == "toyota" and tuning_level >= level["ClusterOffset"] else default.get_float("ClusterOffset") + + toggle.conditional_experimental_mode = openpilot_longitudinal and (params.get_bool("ConditionalExperimental") if tuning_level >= level["ConditionalExperimental"] else default.get_bool("ConditionalExperimental")) + toggle.conditional_curves = toggle.conditional_experimental_mode and (params.get_bool("CECurves") if tuning_level >= level["CECurves"] else default.get_bool("CECurves")) + toggle.conditional_curves_lead = toggle.conditional_curves and (params.get_bool("CECurvesLead") if tuning_level >= level["CECurvesLead"] else default.get_bool("CECurvesLead")) + toggle.conditional_lead = toggle.conditional_experimental_mode and (params.get_bool("CELead") if tuning_level >= level["CELead"] else default.get_bool("CELead")) + toggle.conditional_slower_lead = toggle.conditional_lead and (params.get_bool("CESlowerLead") if tuning_level >= level["CESlowerLead"] else default.get_bool("CESlowerLead")) + toggle.conditional_stopped_lead = toggle.conditional_lead and (params.get_bool("CEStoppedLead") if tuning_level >= level["CEStoppedLead"] else default.get_bool("CEStoppedLead")) + toggle.conditional_limit = params.get_int("CESpeed") * speed_conversion if toggle.conditional_experimental_mode and tuning_level >= level["CESpeed"] else default.get_int("CESpeed") * CV.MPH_TO_MS + toggle.conditional_limit_lead = params.get_int("CESpeedLead") * speed_conversion if toggle.conditional_experimental_mode and tuning_level >= level["CESpeedLead"] else default.get_int("CESpeedLead") * CV.MPH_TO_MS + toggle.conditional_navigation = toggle.conditional_experimental_mode and (params.get_bool("CENavigation") if tuning_level >= level["CENavigation"] else default.get_bool("CENavigation")) + toggle.conditional_navigation_intersections = toggle.conditional_navigation and (params.get_bool("CENavigationIntersections") if tuning_level >= level["CENavigationIntersections"] else default.get_bool("CENavigationIntersections")) + toggle.conditional_navigation_lead = toggle.conditional_navigation and (params.get_bool("CENavigationLead") if tuning_level >= level["CENavigationLead"] else default.get_bool("CENavigationLead")) + toggle.conditional_navigation_turns = toggle.conditional_navigation and (params.get_bool("CENavigationTurns") if tuning_level >= level["CENavigationTurns"] else default.get_bool("CENavigationTurns")) + toggle.conditional_model_stop_time = params.get_int("CEModelStopTime") if toggle.conditional_experimental_mode and tuning_level >= level["CEModelStopTime"] else default.get_int("CEModelStopTime") + toggle.conditional_signal = params.get_int("CESignalSpeed") if toggle.conditional_experimental_mode and tuning_level >= level["CESignalSpeed"] else default.get_int("CESignalSpeed") + toggle.conditional_signal_lane_detection = toggle.conditional_signal != 0 and (params.get_bool("CESignalLaneDetection") if tuning_level >= level["CESignalLaneDetection"] else default.get_bool("CESignalLaneDetection")) + if toggle.conditional_experimental_mode: + params.put_bool("ExperimentalMode", True) + + toggle.curve_speed_controller = openpilot_longitudinal and (params.get_bool("CurveSpeedControl") if tuning_level >= level["CurveSpeedControl"] else default.get_bool("CurveSpeedControl")) + toggle.curve_sensitivity = params.get_int("CurveSensitivity") / 100 if toggle.curve_speed_controller and tuning_level >= level["CurveSensitivity"] else default.get_int("CurveSensitivity") / 100 + toggle.hide_csc_ui = toggle.curve_speed_controller and (params.get_bool("HideCSCUI") if tuning_level >= level["HideCSCUI"] else default.get_bool("HideCSCUI")) + toggle.turn_aggressiveness = params.get_int("TurnAggressiveness") / 100 if toggle.curve_speed_controller and tuning_level >= level["TurnAggressiveness"] else default.get_int("TurnAggressiveness") / 100 + toggle.map_turn_speed_controller = toggle.curve_speed_controller and (params.get_bool("MapTurnControl") if tuning_level >= level["MapTurnControl"] else default.get_bool("MapTurnControl")) + toggle.mtsc_curvature_check = toggle.map_turn_speed_controller and (params.get_bool("MTSCCurvatureCheck") if tuning_level >= level["MTSCCurvatureCheck"] else default.get_bool("MTSCCurvatureCheck")) + toggle.smart_turn_speed_controller = False + toggle.vision_turn_speed_controller = toggle.curve_speed_controller and (params.get_bool("VisionTurnControl") if tuning_level >= level["VisionTurnControl"] else default.get_bool("VisionTurnControl")) + + toggle.custom_alerts = params.get_bool("CustomAlerts") if tuning_level >= level["CustomAlerts"] else default.get_bool("CustomAlerts") + toggle.goat_scream_alert = toggle.custom_alerts and (params.get_bool("GoatScream") if tuning_level >= level["GoatScream"] else default.get_bool("GoatScream")) + toggle.green_light_alert = toggle.custom_alerts and (params.get_bool("GreenLightAlert") if tuning_level >= level["GreenLightAlert"] else default.get_bool("GreenLightAlert")) + toggle.lead_departing_alert = toggle.custom_alerts and (params.get_bool("LeadDepartingAlert") if tuning_level >= level["LeadDepartingAlert"] else default.get_bool("LeadDepartingAlert")) + toggle.loud_blindspot_alert = has_bsm and toggle.custom_alerts and (params.get_bool("LoudBlindspotAlert") if tuning_level >= level["LoudBlindspotAlert"] else default.get_bool("LoudBlindspotAlert")) + toggle.speed_limit_changed_alert = toggle.custom_alerts and (params.get_bool("SpeedLimitChangedAlert") if tuning_level >= level["SpeedLimitChangedAlert"] else default.get_bool("SpeedLimitChangedAlert")) + + toggle.custom_personalities = openpilot_longitudinal and params.get_bool("CustomPersonalities") if tuning_level >= level["CustomPersonalities"] else default.get_bool("CustomPersonalities") + aggressive_profile = toggle.custom_personalities and (params.get_bool("AggressivePersonalityProfile") if tuning_level >= level["AggressivePersonalityProfile"] else default.get_bool("AggressivePersonalityProfile")) + toggle.aggressive_jerk_acceleration = clip(params.get_int("AggressiveJerkAcceleration") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkAcceleration"] else clip(default.get_int("AggressiveJerkAcceleration") / 100, 0.01, 5) + toggle.aggressive_jerk_deceleration = clip(params.get_int("AggressiveJerkDeceleration") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkDeceleration"] else clip(default.get_int("AggressiveJerkDeceleration") / 100, 0.01, 5) + toggle.aggressive_jerk_danger = clip(params.get_int("AggressiveJerkDanger") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkDanger"] else clip(default.get_int("AggressiveJerkDanger") / 100, 0.01, 5) + toggle.aggressive_jerk_speed = clip(params.get_int("AggressiveJerkSpeed") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeed"] else clip(default.get_int("AggressiveJerkSpeed") / 100, 0.01, 5) + toggle.aggressive_jerk_speed_decrease = clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.01, 5) if aggressive_profile and tuning_level >= level["AggressiveJerkSpeedDecrease"] else clip(default.get_int("AggressiveJerkSpeedDecrease") / 100, 0.01, 5) + toggle.aggressive_follow = clip(params.get_float("AggressiveFollow"), 1, 5) if aggressive_profile and tuning_level >= level["AggressiveFollow"] else clip(default.get_float("AggressiveFollow"), 1, 5) + standard_profile = toggle.custom_personalities and (params.get_bool("StandardPersonalityProfile") if tuning_level >= level["StandardPersonalityProfile"] else default.get_bool("StandardPersonalityProfile")) + toggle.standard_jerk_acceleration = clip(params.get_int("StandardJerkAcceleration") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkAcceleration"] else clip(default.get_int("StandardJerkAcceleration") / 100, 0.01, 5) + toggle.standard_jerk_deceleration = clip(params.get_int("StandardJerkDeceleration") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkDeceleration"] else clip(default.get_int("StandardJerkDeceleration") / 100, 0.01, 5) + toggle.standard_jerk_danger = clip(params.get_int("StandardJerkDanger") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkDanger"] else clip(default.get_int("StandardJerkDanger") / 100, 0.01, 5) + toggle.standard_jerk_speed = clip(params.get_int("StandardJerkSpeed") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkSpeed"] else clip(default.get_int("StandardJerkSpeed") / 100, 0.01, 5) + toggle.standard_jerk_speed_decrease = clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.01, 5) if standard_profile and tuning_level >= level["StandardJerkSpeedDecrease"] else clip(default.get_int("StandardJerkSpeedDecrease") / 100, 0.01, 5) + toggle.standard_follow = clip(params.get_float("StandardFollow"), 1, 5) if standard_profile and tuning_level >= level["StandardFollow"] else clip(default.get_float("StandardFollow"), 1, 5) + relaxed_profile = toggle.custom_personalities and (params.get_bool("RelaxedPersonalityProfile") if tuning_level >= level["RelaxedPersonalityProfile"] else default.get_bool("RelaxedPersonalityProfile")) + toggle.relaxed_jerk_acceleration = clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkAcceleration"] else clip(default.get_int("RelaxedJerkAcceleration") / 100, 0.01, 5) + toggle.relaxed_jerk_deceleration = clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkDeceleration"] else clip(default.get_int("RelaxedJerkDeceleration") / 100, 0.01, 5) + toggle.relaxed_jerk_danger = clip(params.get_int("RelaxedJerkDanger") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkDanger"] else clip(default.get_int("RelaxedJerkDanger") / 100, 0.01, 5) + toggle.relaxed_jerk_speed = clip(params.get_int("RelaxedJerkSpeed") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeed"] else clip(default.get_int("RelaxedJerkSpeed") / 100, 0.01, 5) + toggle.relaxed_jerk_speed_decrease = clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.01, 5) if relaxed_profile and tuning_level >= level["RelaxedJerkSpeedDecrease"] else clip(default.get_int("RelaxedJerkSpeedDecrease") / 100, 0.01, 5) + toggle.relaxed_follow = clip(params.get_float("RelaxedFollow"), 1, 5) if relaxed_profile and tuning_level >= level["RelaxedFollow"] else clip(default.get_float("RelaxedFollow"), 1, 5) + traffic_profile = toggle.custom_personalities and (params.get_bool("TrafficPersonalityProfile") if tuning_level >= level["TrafficPersonalityProfile"] else default.get_bool("TrafficPersonalityProfile")) + toggle.traffic_mode_jerk_acceleration = [clip(params.get_int("TrafficJerkAcceleration") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkAcceleration"] else clip(default.get_int("TrafficJerkAcceleration") / 100, 0.01, 5), toggle.aggressive_jerk_acceleration] + toggle.traffic_mode_jerk_deceleration = [clip(params.get_int("TrafficJerkDeceleration") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkDeceleration"] else clip(default.get_int("TrafficJerkDeceleration") / 100, 0.01, 5), toggle.aggressive_jerk_deceleration] + toggle.traffic_mode_jerk_danger = [clip(params.get_int("TrafficJerkDanger") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkDanger"] else clip(default.get_int("TrafficJerkDanger") / 100, 0.01, 5), toggle.aggressive_jerk_danger] + toggle.traffic_mode_jerk_speed = [clip(params.get_int("TrafficJerkSpeed") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkSpeed"] else clip(default.get_int("TrafficJerkSpeed") / 100, 0.01, 5), toggle.aggressive_jerk_speed] + toggle.traffic_mode_jerk_speed_decrease = [clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.01, 5) if traffic_profile and tuning_level >= level["TrafficJerkSpeedDecrease"] else clip(default.get_int("TrafficJerkSpeedDecrease") / 100, 0.01, 5), toggle.aggressive_jerk_speed_decrease] + toggle.traffic_mode_follow = [clip(params.get_float("TrafficFollow"), 0.5, 5) if traffic_profile and tuning_level >= level["TrafficFollow"] else clip(default.get_float("TrafficFollow"), 0.5, 5), toggle.aggressive_follow] + + custom_ui = params.get_bool("CustomUI") if tuning_level >= level["CustomUI"] else default.get_bool("CustomUI") + toggle.acceleration_path = custom_ui and (params.get_bool("AccelerationPath") if tuning_level >= level["AccelerationPath"] else default.get_bool("AccelerationPath")) + toggle.adjacent_paths = custom_ui and (params.get_bool("AdjacentPath") if tuning_level >= level["AdjacentPath"] else default.get_bool("AdjacentPath")) + toggle.blind_spot_path = has_bsm and custom_ui and (params.get_bool("BlindSpotPath") if tuning_level >= level["BlindSpotPath"] else default.get_bool("BlindSpotPath")) + toggle.compass = custom_ui and (params.get_bool("Compass") if tuning_level >= level["Compass"] else default.get_bool("Compass")) + toggle.pedals_on_ui = custom_ui and (params.get_bool("PedalsOnUI") if tuning_level >= level["PedalsOnUI"] else default.get_bool("PedalsOnUI")) + toggle.dynamic_pedals_on_ui = toggle.pedals_on_ui and (params.get_bool("DynamicPedalsOnUI") if tuning_level >= level["DynamicPedalsOnUI"] else default.get_bool("DynamicPedalsOnUI")) + toggle.static_pedals_on_ui = toggle.pedals_on_ui and (params.get_bool("StaticPedalsOnUI") if tuning_level >= level["StaticPedalsOnUI"] else default.get_bool("StaticPedalsOnUI")) + toggle.rotating_wheel = custom_ui and (params.get_bool("RotatingWheel") if tuning_level >= level["RotatingWheel"] else default.get_bool("RotatingWheel")) + + toggle.developer_ui = params.get_bool("DeveloperUI") if tuning_level >= level["DeveloperUI"] else default.get_bool("DeveloperUI") + border_metrics = toggle.developer_ui and (params.get_bool("BorderMetrics") if tuning_level >= level["BorderMetrics"] else default.get_bool("BorderMetrics")) + toggle.blind_spot_metrics = has_bsm and border_metrics and (params.get_bool("BlindSpotMetrics") if tuning_level >= level["BlindSpotMetrics"] else default.get_bool("BlindSpotMetrics")) + toggle.signal_metrics = border_metrics and (params.get_bool("SignalMetrics") if tuning_level >= level["SignalMetrics"] else default.get_bool("SignalMetrics")) + toggle.steering_metrics = border_metrics and (params.get_bool("ShowSteering") if tuning_level >= level["ShowSteering"] else default.get_bool("ShowSteering")) + toggle.cem_status = toggle.developer_ui and toggle.conditional_experimental_mode and (params.get_bool("ShowCEMStatus") if tuning_level >= level["ShowCEMStatus"] else default.get_bool("ShowCEMStatus")) + toggle.show_fps = toggle.developer_ui and (params.get_bool("FPSCounter") if tuning_level >= level["FPSCounter"] else default.get_bool("FPSCounter")) + lateral_metrics = toggle.developer_ui and (params.get_bool("LateralMetrics") if tuning_level >= level["LateralMetrics"] else default.get_bool("LateralMetrics")) + toggle.adjacent_path_metrics = lateral_metrics and (params.get_bool("AdjacentPathMetrics") if tuning_level >= level["AdjacentPathMetrics"] else default.get_bool("AdjacentPathMetrics")) + toggle.lateral_tuning_metrics = (has_auto_tune or toggle.force_auto_tune) and lateral_metrics and (params.get_bool("TuningInfo") if tuning_level >= level["TuningInfo"] else default.get_bool("TuningInfo")) + longitudinal_metrics = toggle.developer_ui and (params.get_bool("LongitudinalMetrics") if tuning_level >= level["LongitudinalMetrics"] else default.get_bool("LongitudinalMetrics")) + toggle.adjacent_lead_tracking = has_radar and longitudinal_metrics and (params.get_bool("AdjacentLeadsUI") if tuning_level >= level["AdjacentLeadsUI"] else default.get_bool("AdjacentLeadsUI")) + toggle.lead_metrics = longitudinal_metrics and (params.get_bool("LeadInfo") if tuning_level >= level["LeadInfo"] else default.get_bool("LeadInfo")) + toggle.jerk_metrics = longitudinal_metrics and (params.get_bool("JerkInfo") if tuning_level >= level["JerkInfo"] else default.get_bool("JerkInfo")) + toggle.numerical_temp = toggle.developer_ui and (params.get_bool("NumericalTemp") if tuning_level >= level["NumericalTemp"] else default.get_bool("NumericalTemp")) + toggle.fahrenheit = toggle.numerical_temp and (params.get_bool("Fahrenheit") if tuning_level >= level["Fahrenheit"] else default.get_bool("Fahrenheit")) + toggle.sidebar_metrics = toggle.developer_ui and (params.get_bool("SidebarMetrics") if tuning_level >= level["SidebarMetrics"] else default.get_bool("SidebarMetrics")) + toggle.cpu_metrics = toggle.sidebar_metrics and (params.get_bool("ShowCPU") if tuning_level >= level["ShowCPU"] else default.get_bool("ShowCPU")) + toggle.gpu_metrics = toggle.sidebar_metrics and (params.get_bool("ShowGPU") if tuning_level >= level["ShowGPU"] else default.get_bool("ShowGPU")) + toggle.ip_metrics = toggle.sidebar_metrics and (params.get_bool("ShowIP") if tuning_level >= level["ShowIP"] else default.get_bool("ShowIP")) + toggle.memory_metrics = toggle.sidebar_metrics and (params.get_bool("ShowMemoryUsage") if tuning_level >= level["ShowMemoryUsage"] else default.get_bool("ShowMemoryUsage")) + toggle.storage_left_metrics = toggle.sidebar_metrics and (params.get_bool("ShowStorageLeft") if tuning_level >= level["ShowStorageLeft"] else default.get_bool("ShowStorageLeft")) + toggle.storage_used_metrics = toggle.sidebar_metrics and (params.get_bool("ShowStorageUsed") if tuning_level >= level["ShowStorageUsed"] else default.get_bool("ShowStorageUsed")) + toggle.use_si_metrics = toggle.developer_ui and (params.get_bool("UseSI") if tuning_level >= level["UseSI"] else default.get_bool("UseSI")) + + device_management = params.get_bool("DeviceManagement") if tuning_level >= level["DeviceManagement"] else default.get_bool("DeviceManagement") + device_shutdown_setting = params.get_int("DeviceShutdown") if device_management and tuning_level >= level["DeviceShutdown"] else default.get_int("DeviceShutdown") + toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15) + toggle.increase_thermal_limits = device_management and (params.get_bool("IncreaseThermalLimits") if tuning_level >= level["IncreaseThermalLimits"] else default.get_bool("IncreaseThermalLimits")) + toggle.low_voltage_shutdown = clip(params.get_float("LowVoltageShutdown"), VBATT_PAUSE_CHARGING, 12.5) if device_management and tuning_level >= level["LowVoltageShutdown"] else default.get_float("LowVoltageShutdown") + toggle.no_logging = device_management and (params.get_bool("NoLogging") if tuning_level >= level["NoLogging"] else default.get_bool("NoLogging")) or self.development_branch + toggle.no_uploads = device_management and (params.get_bool("NoUploads") if tuning_level >= level["NoUploads"] else default.get_bool("NoUploads")) or self.development_branch + toggle.no_onroad_uploads = toggle.no_uploads and (params.get_bool("DisableOnroadUploads") if tuning_level >= level["DisableOnroadUploads"] else default.get_bool("DisableOnroadUploads")) + toggle.offline_mode = device_management and (params.get_bool("OfflineMode") if tuning_level >= level["OfflineMode"] else default.get_bool("OfflineMode")) + + toggle.experimental_gm_tune = openpilot_longitudinal and car_make == "gm" and (params.get_bool("ExperimentalGMTune") if tuning_level >= level["ExperimentalGMTune"] else default.get_bool("ExperimentalGMTune")) + stoppingDecelRate = 0.3 if toggle.experimental_gm_tune else stoppingDecelRate + vEgoStopping = 0.15 if toggle.experimental_gm_tune else vEgoStopping + vEgoStarting = 0.15 if toggle.experimental_gm_tune else vEgoStarting + + toggle.experimental_mode_via_press = openpilot_longitudinal and (params.get_bool("ExperimentalModeActivation") if tuning_level >= level["ExperimentalModeActivation"] else default.get_bool("ExperimentalModeActivation")) + toggle.experimental_mode_via_distance = toggle.experimental_mode_via_press and (params.get_bool("ExperimentalModeViaDistance") if tuning_level >= level["ExperimentalModeViaDistance"] else default.get_bool("ExperimentalModeViaDistance")) + toggle.experimental_mode_via_lkas = not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and car_make != "subaru" and (params.get_bool("ExperimentalModeViaLKAS") if tuning_level >= level["ExperimentalModeViaLKAS"] else default.get_bool("ExperimentalModeViaLKAS")) + toggle.experimental_mode_via_tap = toggle.experimental_mode_via_press and (params.get_bool("ExperimentalModeViaTap") if tuning_level >= level["ExperimentalModeViaTap"] else default.get_bool("ExperimentalModeViaTap")) + + toggle.frogsgomoo_tweak = openpilot_longitudinal and car_make == "toyota" and (params.get_bool("FrogsGoMoosTweak") if tuning_level >= level["FrogsGoMoosTweak"] else default.get_bool("FrogsGoMoosTweak")) + toggle.kiBP = [CRUISING_SPEED, CITY_SPEED_LIMIT] if toggle.frogsgomoo_tweak else kiBP + toggle.kiV = [0.5, 0.25] if toggle.frogsgomoo_tweak else kiV + toggle.stoppingDecelRate = 0.01 if toggle.frogsgomoo_tweak else stoppingDecelRate + toggle.vEgoStopping = 0.5 if toggle.frogsgomoo_tweak else vEgoStopping + toggle.vEgoStarting = 0.1 if toggle.frogsgomoo_tweak else vEgoStarting + + toggle.holiday_themes = params.get_bool("HolidayThemes") if tuning_level >= level["HolidayThemes"] else default.get_bool("HolidayThemes") + toggle.current_holiday_theme = holiday_theme if toggle.holiday_themes else "stock" + + lane_change_customizations = params.get_bool("LaneChangeCustomizations") if tuning_level >= level["LaneChangeCustomizations"] else default.get_bool("LaneChangeCustomizations") + toggle.lane_change_delay = params.get_float("LaneChangeTime") if lane_change_customizations and tuning_level >= level["LaneChangeTime"] else default.get_float("LaneChangeTime") + toggle.lane_detection_width = params.get_float("LaneDetectionWidth") * distance_conversion if lane_change_customizations and tuning_level >= level["LaneDetectionWidth"] else default.get_float("LaneDetectionWidth") * CV.FOOT_TO_METER + toggle.lane_detection = toggle.lane_detection_width > 0 + toggle.minimum_lane_change_speed = params.get_float("MinimumLaneChangeSpeed") * speed_conversion if lane_change_customizations and tuning_level >= level["MinimumLaneChangeSpeed"] else default.get_float("MinimumLaneChangeSpeed") * CV.MPH_TO_MS + toggle.nudgeless = lane_change_customizations and (params.get_bool("NudgelessLaneChange") if tuning_level >= level["NudgelessLaneChange"] else default.get_bool("NudgelessLaneChange")) + toggle.one_lane_change = lane_change_customizations and (params.get_bool("OneLaneChange") if tuning_level >= level["OneLaneChange"] else default.get_bool("OneLaneChange")) + + lateral_tuning = params.get_bool("LateralTune") if tuning_level >= level["LateralTune"] else default.get_bool("LateralTune") + toggle.nnff = lateral_tuning and (params.get_bool("NNFF") if tuning_level >= level["NNFF"] else default.get_bool("NNFF")) + toggle.nnff_lite = lateral_tuning and (params.get_bool("NNFFLite") if tuning_level >= level["NNFFLite"] else default.get_bool("NNFFLite")) + toggle.use_turn_desires = lateral_tuning and (params.get_bool("TurnDesires") if tuning_level >= level["TurnDesires"] else default.get_bool("TurnDesires")) + + toggle.lock_doors_timer = default.get_int("LockDoorsTimer") + + toggle.long_pitch = openpilot_longitudinal and car_make == "gm" and (params.get_bool("LongPitch") if tuning_level >= level["LongPitch"] else default.get_bool("LongPitch")) + + longitudinal_tuning = openpilot_longitudinal and (params.get_bool("LongitudinalTune") if tuning_level >= level["LongitudinalTune"] else default.get_bool("LongitudinalTune")) + toggle.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tuning and tuning_level >= level["AccelerationProfile"] else default.get_int("AccelerationProfile") + toggle.sport_plus = max_acceleration_enabled and toggle.acceleration_profile == 3 + toggle.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tuning and tuning_level >= level["DecelerationProfile"] else default.get_int("DecelerationProfile") + toggle.human_acceleration = longitudinal_tuning and (params.get_bool("HumanAcceleration") if tuning_level >= level["HumanAcceleration"] else default.get_bool("HumanAcceleration")) + toggle.human_following = longitudinal_tuning and (params.get_bool("HumanFollowing") if tuning_level >= level["HumanFollowing"] else default.get_bool("HumanFollowing")) + toggle.lead_detection_probability = clip(params.get_int("LeadDetectionThreshold") / 100, 0.01, 0.99) if longitudinal_tuning and tuning_level >= level["LeadDetectionThreshold"] else clip(default.get_int("LeadDetectionThreshold") / 100, 0.01, 0.99) + toggle.max_desired_acceleration = clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if longitudinal_tuning and tuning_level >= level["MaxDesiredAcceleration"] else default.get_float("MaxDesiredAcceleration") + toggle.taco_tune = longitudinal_tuning and (params.get_bool("TacoTune") if tuning_level >= level["TacoTune"] else default.get_bool("TacoTune")) + + toggle.available_models = params.get("AvailableModels", encoding='utf-8') or "" + toggle.available_model_names = params.get("AvailableModelNames", encoding='utf-8') or "" + toggle.model_versions = params.get("ModelVersions", encoding='utf-8') or "" + downloaded_models = [model for model in toggle.available_models.split(",") if (MODELS_PATH / f"{model}.thneed").exists()] + toggle.model_randomizer = downloaded_models and (params.get_bool("ModelRandomizer") if tuning_level >= level["ModelRandomizer"] else default.get_bool("ModelRandomizer")) + if toggle.available_models and toggle.available_model_names and downloaded_models and toggle.model_versions: + if toggle.model_randomizer: + if not started: + blacklisted_models = (params.get("BlacklistedModels", encoding='utf-8') or "").split(",") + selectable_models = [model for model in downloaded_models if model not in blacklisted_models] + toggle.model = random.choice(selectable_models) if selectable_models else default.get("Model", encoding='utf-8') + toggle.model_name = "Mystery Model 👻" + toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)] + else: + toggle.model = params.get("Model", encoding='utf-8') if tuning_level >= level["Model"] else default.get("Model", encoding='utf-8') + if toggle.model in toggle.available_models.split(","): + toggle.model_name = toggle.available_model_names.split(",")[toggle.available_models.split(",").index(toggle.model)] + toggle.model_version = toggle.model_versions.split(",")[toggle.available_models.split(",").index(toggle.model)] + else: + toggle.model = default.get("Model", encoding='utf-8') + toggle.model_name = toggle.available_model_names.split(",")[toggle.available_models.split(",").index(toggle.model)] + toggle.model_version = default.get("ModelVersion", encoding='utf-8') + else: + toggle.model = DEFAULT_CLASSIC_MODEL + toggle.model_name = DEFAULT_CLASSIC_MODEL_NAME + toggle.model_version = DEFAULT_CLASSIC_MODEL_VERSION + toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"} + toggle.planner_curvature_model = toggle.model_version not in {"v1", "v2", "v3", "v4", "v5"} + toggle.radarless_model = toggle.model_version in {"v3"} + + toggle.model_ui = params.get_bool("ModelUI") if tuning_level >= level["ModelUI"] else default.get_bool("ModelUI") + toggle.dynamic_path_width = toggle.model_ui and (params.get_bool("DynamicPathWidth") if tuning_level >= level["DynamicPathWidth"] else default.get_bool("DynamicPathWidth")) + toggle.lane_line_width = params.get_int("LaneLinesWidth") * small_distance_conversion / 200 if toggle.model_ui and tuning_level >= level["LaneLinesWidth"] else default.get_int("LaneLinesWidth") * CV.INCH_TO_CM / 200 + toggle.path_edge_width = params.get_int("PathEdgeWidth") if toggle.model_ui and tuning_level >= level["PathEdgeWidth"] else default.get_int("PathEdgeWidth") + toggle.path_width = params.get_float("PathWidth") * distance_conversion / 2 if toggle.model_ui and tuning_level >= level["PathWidth"] else default.get_float("PathWidth") * CV.FOOT_TO_METER / 2 + toggle.road_edge_width = params.get_int("RoadEdgesWidth") * small_distance_conversion / 200 if toggle.model_ui and tuning_level >= level["RoadEdgesWidth"] else default.get_int("RoadEdgesWidth") * CV.INCH_TO_CM / 200 + toggle.show_stopping_point = toggle.model_ui and (params.get_bool("ShowStoppingPoint") if tuning_level >= level["ShowStoppingPoint"] else default.get_bool("ShowStoppingPoint")) + toggle.show_stopping_point_metrics = toggle.show_stopping_point and (params.get_bool("ShowStoppingPointMetrics") if tuning_level >= level["ShowStoppingPointMetrics"] else default.get_bool("ShowStoppingPointMetrics")) + toggle.unlimited_road_ui_length = toggle.model_ui and (params.get_bool("UnlimitedLength") if tuning_level >= level["UnlimitedLength"] else default.get_bool("UnlimitedLength")) + + toggle.navigation_ui = params.get_bool("NavigationUI") if tuning_level >= level["NavigationUI"] else default.get_bool("NavigationUI") + toggle.big_map = toggle.navigation_ui and (params.get_bool("BigMap") if tuning_level >= level["BigMap"] else default.get_bool("BigMap")) + toggle.full_map = toggle.big_map and (params.get_bool("FullMap") if tuning_level >= level["FullMap"] else default.get_bool("FullMap")) + toggle.map_style = params.get_int("MapStyle") if toggle.navigation_ui and tuning_level >= level["MapStyle"] else default.get_int("MapStyle") + toggle.road_name_ui = toggle.navigation_ui and (params.get_bool("RoadNameUI") if tuning_level >= level["RoadNameUI"] else default.get_bool("RoadNameUI")) + toggle.show_speed_limits = toggle.navigation_ui and (params.get_bool("ShowSpeedLimits") if tuning_level >= level["ShowSpeedLimits"] else default.get_bool("ShowSpeedLimits")) + toggle.speed_limit_vienna = toggle.navigation_ui and (params.get_bool("UseVienna") if tuning_level >= level["UseVienna"] else default.get_bool("UseVienna")) + + toggle.old_long_api = openpilot_longitudinal and car_make == "gm" and not (params.get_bool("NewLongAPIGM") if tuning_level >= level["NewLongAPIGM"] else default.get_bool("NewLongAPIGM")) + toggle.old_long_api |= openpilot_longitudinal and car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI")) + + personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot") + toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding='utf-8') if personalize_openpilot else "stock" + toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding='utf-8') if personalize_openpilot else "stock" + toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding='utf-8') if personalize_openpilot else "stock" + toggle.signal_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomSignals", encoding='utf-8') if personalize_openpilot else "stock" + toggle.sound_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomSounds", encoding='utf-8') if personalize_openpilot else "stock" + toggle.wheel_image = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("WheelIcon", encoding='utf-8') if personalize_openpilot else "stock" + + quality_of_life_lateral = params.get_bool("QOLLateral") if tuning_level >= level["QOLLateral"] else default.get_bool("QOLLateral") + toggle.pause_lateral_below_speed = params.get_int("PauseLateralSpeed") * speed_conversion if quality_of_life_lateral and tuning_level >= level["PauseLateralSpeed"] else default.get_int("PauseLateralSpeed") * CV.MPH_TO_MS + toggle.pause_lateral_below_signal = toggle.pause_lateral_below_speed != 0 and (params.get_bool("PauseLateralOnSignal") if tuning_level >= level["PauseLateralOnSignal"] else default.get_bool("PauseLateralOnSignal")) + + quality_of_life_longitudinal = params.get_bool("QOLLongitudinal") if tuning_level >= level["QOLLongitudinal"] else default.get_bool("QOLLongitudinal") + toggle.custom_cruise_increase = params.get_int("CustomCruise") if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["CustomCruise"] else default.get_int("CustomCruise") + toggle.custom_cruise_increase_long = params.get_int("CustomCruiseLong") if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["CustomCruiseLong"] else default.get_int("CustomCruiseLong") + toggle.force_standstill = quality_of_life_longitudinal and (params.get_bool("ForceStandstill") if tuning_level >= level["ForceStandstill"] else default.get_bool("ForceStandstill")) + toggle.force_stops = quality_of_life_longitudinal and (params.get_bool("ForceStops") if tuning_level >= level["ForceStops"] else default.get_bool("ForceStops")) + toggle.increased_stopped_distance = params.get_int("IncreasedStoppedDistance") * distance_conversion if quality_of_life_longitudinal and tuning_level >= level["IncreasedStoppedDistance"] else default.get_int("IncreasedStoppedDistance") * CV.FOOT_TO_METER + map_gears = quality_of_life_longitudinal and (params.get_bool("MapGears") if tuning_level >= level["MapGears"] else default.get_bool("MapGears")) + toggle.map_acceleration = map_gears and (params.get_bool("MapAcceleration") if tuning_level >= level["MapAcceleration"] else default.get_bool("MapAcceleration")) + toggle.map_deceleration = map_gears and (params.get_bool("MapDeceleration") if tuning_level >= level["MapDeceleration"] else default.get_bool("MapDeceleration")) + toggle.reverse_cruise_increase = quality_of_life_longitudinal and pcm_cruise and (params.get_bool("ReverseCruise") if tuning_level >= level["ReverseCruise"] else default.get_bool("ReverseCruise")) + toggle.set_speed_offset = params.get_int("SetSpeedOffset") * (1 if toggle.is_metric else CV.MPH_TO_KPH) if quality_of_life_longitudinal and not pcm_cruise and tuning_level >= level["SetSpeedOffset"] else default.get_int("SetSpeedOffset") * CV.MPH_TO_KPH + + quality_of_life_visuals = params.get_bool("QOLVisuals") if tuning_level >= level["QOLVisuals"] else default.get_bool("QOLVisuals") + toggle.camera_view = params.get_int("CameraView") if quality_of_life_visuals and tuning_level >= level["CameraView"] else default.get_int("CameraView") + toggle.driver_camera_in_reverse = quality_of_life_visuals and (params.get_bool("DriverCamera") if tuning_level >= level["DriverCamera"] else default.get_bool("DriverCamera")) + toggle.onroad_distance_button = openpilot_longitudinal and quality_of_life_visuals and (params.get_bool("OnroadDistanceButton") if tuning_level >= level["OnroadDistanceButton"] else default.get_bool("OnroadDistanceButton")) + toggle.standby_mode = quality_of_life_visuals and (params.get_bool("StandbyMode") if tuning_level >= level["StandbyMode"] else default.get_bool("StandbyMode")) + toggle.stopped_timer = quality_of_life_visuals and (params.get_bool("StoppedTimer") if tuning_level >= level["StoppedTimer"] else default.get_bool("StoppedTimer")) + + toggle.rainbow_path = params.get_bool("RainbowPath") if tuning_level >= level["RainbowPath"] else default.get_bool("RainbowPath") + + toggle.random_events = params.get_bool("RandomEvents") if tuning_level >= level["RandomEvents"] else default.get_bool("RandomEvents") + + screen_management = params.get_bool("ScreenManagement") if tuning_level >= level["ScreenManagement"] else default.get_bool("ScreenManagement") + toggle.screen_brightness = params.get_int("ScreenBrightness") if screen_management and tuning_level >= level["ScreenBrightness"] else default.get_int("ScreenBrightness") + toggle.screen_brightness_onroad = params.get_int("ScreenBrightnessOnroad") if screen_management and tuning_level >= level["ScreenBrightnessOnroad"] else default.get_int("ScreenBrightnessOnroad") + toggle.screen_recorder = screen_management and (params.get_bool("ScreenRecorder") if tuning_level >= level["ScreenRecorder"] else default.get_bool("ScreenRecorder")) + toggle.screen_timeout = params.get_int("ScreenTimeout") if screen_management and tuning_level >= level["ScreenTimeout"] else default.get_int("ScreenTimeout") + toggle.screen_timeout_onroad = params.get_int("ScreenTimeoutOnroad") if screen_management and tuning_level >= level["ScreenTimeoutOnroad"] else default.get_int("ScreenTimeoutOnroad") + + toggle.sng_hack = openpilot_longitudinal and car_make == "toyota" and not has_pedal and (params.get_bool("SNGHack") if tuning_level >= level["SNGHack"] else default.get_bool("SNGHack")) + + toggle.speed_limit_controller = openpilot_longitudinal and (params.get_bool("SpeedLimitController") if tuning_level >= level["SpeedLimitController"] else default.get_bool("SpeedLimitController")) + toggle.force_mph_dashboard = toggle.speed_limit_controller and (params.get_bool("ForceMPHDashboard") if tuning_level >= level["ForceMPHDashboard"] else default.get_bool("ForceMPHDashboard")) + toggle.map_speed_lookahead_higher = params.get_int("SLCLookaheadHigher") if toggle.speed_limit_controller and tuning_level >= level["SLCLookaheadHigher"] else default.get_int("SLCLookaheadHigher") + toggle.map_speed_lookahead_lower = params.get_int("SLCLookaheadLower") if toggle.speed_limit_controller and tuning_level >= level["SLCLookaheadLower"] else default.get_int("SLCLookaheadLower") + toggle.set_speed_limit = toggle.speed_limit_controller and (params.get_bool("SetSpeedLimit") if tuning_level >= level["SetSpeedLimit"] else default.get_bool("SetSpeedLimit")) + toggle.show_speed_limit_offset = toggle.speed_limit_controller and (params.get_bool("ShowSLCOffset") if tuning_level >= level["ShowSLCOffset"] else default.get_bool("ShowSLCOffset")) + slc_fallback_method = params.get_int("SLCFallback") if toggle.speed_limit_controller and tuning_level >= level["SLCFallback"] else default.get_int("SLCFallback") + toggle.slc_fallback_experimental_mode = slc_fallback_method == 1 + toggle.slc_fallback_previous_speed_limit = slc_fallback_method == 2 + toggle.slc_fallback_set_speed = slc_fallback_method == 0 + toggle.speed_limit_confirmation = toggle.speed_limit_controller and (params.get_bool("SLCConfirmation") if tuning_level >= level["SLCConfirmation"] else default.get_bool("SLCConfirmation")) + toggle.speed_limit_confirmation_higher = toggle.speed_limit_confirmation and (params.get_bool("SLCConfirmationHigher") if tuning_level >= level["SLCConfirmationHigher"] else default.get_bool("SLCConfirmationHigher")) + toggle.speed_limit_confirmation_lower = toggle.speed_limit_confirmation and (params.get_bool("SLCConfirmationLower") if tuning_level >= level["SLCConfirmationLower"] else default.get_bool("SLCConfirmationLower")) + slc_override_method = params.get_int("SLCOverride") if toggle.speed_limit_controller and tuning_level >= level["SLCOverride"] else default.get_int("SLCOverride") + toggle.speed_limit_controller_override_manual = slc_override_method == 1 + toggle.speed_limit_controller_override_set_speed = slc_override_method == 2 + toggle.speed_limit_offset1 = (params.get_int("Offset1") * speed_conversion if tuning_level >= level["Offset1"] else default.get_int("Offset1") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0 + toggle.speed_limit_offset2 = (params.get_int("Offset2") * speed_conversion if tuning_level >= level["Offset2"] else default.get_int("Offset2") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0 + toggle.speed_limit_offset3 = (params.get_int("Offset3") * speed_conversion if tuning_level >= level["Offset3"] else default.get_int("Offset3") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0 + toggle.speed_limit_offset4 = (params.get_int("Offset4") * speed_conversion if tuning_level >= level["Offset4"] else default.get_int("Offset4") * CV.MPH_TO_MS) if toggle.speed_limit_controller else 0 + toggle.speed_limit_priority1 = params.get("SLCPriority1", encoding='utf-8') if toggle.speed_limit_controller and tuning_level >= level["SLCPriority1"] else default.get("SLCPriority1", encoding='utf-8') + toggle.speed_limit_priority2 = params.get("SLCPriority2", encoding='utf-8') if toggle.speed_limit_controller and tuning_level >= level["SLCPriority2"] else default.get("SLCPriority2", encoding='utf-8') + toggle.speed_limit_priority3 = params.get("SLCPriority3", encoding='utf-8') if toggle.speed_limit_controller and tuning_level >= level["SLCPriority3"] else default.get("SLCPriority3", encoding='utf-8') + toggle.speed_limit_priority_highest = toggle.speed_limit_priority1 == "Highest" + toggle.speed_limit_priority_lowest = toggle.speed_limit_priority1 == "Lowest" + toggle.speed_limit_sources = toggle.speed_limit_controller and (params.get_bool("SpeedLimitSources") if tuning_level >= level["SpeedLimitSources"] else default.get_bool("SpeedLimitSources")) + + toggle.startup_alert_top = params.get("StartupMessageTop", encoding='utf-8') if tuning_level >= level["StartupMessageTop"] else default.get("StartupMessageTop", encoding='utf-8') + toggle.startup_alert_bottom = params.get("StartupMessageBottom", encoding='utf-8') if tuning_level >= level["StartupMessageBottom"] else default.get("StartupMessageBottom", encoding='utf-8') + + toggle.tethering_config = params.get_int("TetheringEnabled") + + toyota_doors = car_make == "toyota" and (params.get_bool("ToyotaDoors") if tuning_level >= level["ToyotaDoors"] else default.get_bool("ToyotaDoors")) + toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors")) + toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors")) + + toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG")) + + params_memory.put("FrogPilotToggles", json.dumps(toggle.__dict__)) + params_memory.remove("FrogPilotTogglesUpdated") diff --git a/selfdrive/frogpilot/navigation/mapd.py b/selfdrive/frogpilot/navigation/mapd.py new file mode 100644 index 000000000..78e1ce12a --- /dev/null +++ b/selfdrive/frogpilot/navigation/mapd.py @@ -0,0 +1,120 @@ +# PFEIFER - MAPD - Modified by FrogAi for FrogPilot +#!/usr/bin/env python3 +import http.client +import json +import os +import shutil +import stat +import subprocess +import time +import urllib.error +import urllib.request + +import openpilot.system.sentry as sentry + +from pathlib import Path + +from openpilot.selfdrive.frogpilot.frogpilot_utilities import is_url_pingable +from openpilot.selfdrive.frogpilot.frogpilot_variables import MAPD_PATH, MAPS_PATH + +VERSION = "v1" + +GITHUB_VERSION_URL = f"https://github.com/FrogAi/FrogPilot-Resources/raw/Versions/mapd_version_{VERSION}.json" +GITLAB_VERSION_URL = f"https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw/Versions/mapd_version_{VERSION}.json" + +VERSION_PATH = Path("/data/media/0/osm/mapd_version") + +def fix_permissions(): + try: + current_permissions = stat.S_IMODE(os.lstat(MAPD_PATH).st_mode) + desired_permissions = current_permissions | stat.S_IEXEC + + if current_permissions != desired_permissions: + print(f"{MAPD_PATH} has the wrong permissions. Attempting to fix...") + os.chmod(MAPD_PATH, desired_permissions) + except OSError as error: + sentry.capture_exception(error) + +def download(): + while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")): + time.sleep(60) + + latest_version = get_latest_version() + + urls = [ + f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{latest_version}/mapd", + f"https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw/Mapd/{latest_version}" + ] + + os.makedirs(os.path.dirname(MAPD_PATH), exist_ok=True) + os.chmod(os.path.dirname(MAPD_PATH), 0o755) + + for url in urls: + try: + with urllib.request.urlopen(url) as response: + with open(MAPD_PATH, 'wb') as output: + shutil.copyfileobj(response, output) + os.fsync(output.fileno()) + fix_permissions() + with open(VERSION_PATH, 'w') as version_file: + version_file.write(latest_version) + os.fsync(version_file.fileno()) + return + except http.client.IncompleteRead as error: + print(f"IncompleteRead error when downloading mapd from {url}: {error}") + except http.client.RemoteDisconnected as error: + print(f"RemoteDisconnected error when downloading mapd from {url}: {error}") + except urllib.error.URLError as error: + print(f"Failed to download mapd from {url}: {error}") + except Exception as error: + print(f"Failed to download mapd from {url}: {error}") + sentry.capture_exception(error) + +def get_latest_version(): + for url in [GITHUB_VERSION_URL, GITLAB_VERSION_URL]: + try: + with urllib.request.urlopen(url, timeout=5) as response: + return json.loads(response.read().decode('utf-8'))['version'] + except TimeoutError as error: + print(f"Timeout while fetching mapd version from {url}: {error}") + except urllib.error.URLError as error: + print(f"URLError encountered for {url}: {error}") + except Exception as error: + print(f"Error fetching mapd version from {url}: {error}") + sentry.capture_exception(error) + print("Failed to get the latest mapd version") + return "v0" + +def mapd_thread(): + while True: + try: + if not os.path.exists(MAPD_PATH): + print(f"{MAPD_PATH} not found. Downloading...") + download() + continue + else: + fix_permissions() + + if not os.path.exists(VERSION_PATH): + download() + continue + with open(VERSION_PATH) as version_file: + current_version = version_file.read().strip() + if is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com"): + if current_version != get_latest_version(): + print("New mapd version available. Downloading...") + download() + continue + + process = subprocess.Popen(MAPD_PATH) + process.wait() + except Exception as error: + print(f"Error in mapd_thread: {error}") + sentry.capture_exception(error) + time.sleep(60) + +def main(): + mapd_thread() + +if __name__ == "__main__": + main() diff --git a/selfdrive/frogpilot/navigation/navigation_training/both_keys_set.png b/selfdrive/frogpilot/navigation/navigation_training/both_keys_set.png new file mode 100644 index 000000000..41cf320c4 Binary files /dev/null and b/selfdrive/frogpilot/navigation/navigation_training/both_keys_set.png differ diff --git a/selfdrive/frogpilot/navigation/navigation_training/no_keys_set.png b/selfdrive/frogpilot/navigation/navigation_training/no_keys_set.png new file mode 100644 index 000000000..7fc89a89e Binary files /dev/null and b/selfdrive/frogpilot/navigation/navigation_training/no_keys_set.png differ diff --git a/selfdrive/frogpilot/navigation/navigation_training/public_key_set.png b/selfdrive/frogpilot/navigation/navigation_training/public_key_set.png new file mode 100644 index 000000000..ac3e6d1d5 Binary files /dev/null and b/selfdrive/frogpilot/navigation/navigation_training/public_key_set.png differ diff --git a/selfdrive/frogpilot/navigation/navigation_training/setup_completed.png b/selfdrive/frogpilot/navigation/navigation_training/setup_completed.png new file mode 100644 index 000000000..afd64fb73 Binary files /dev/null and b/selfdrive/frogpilot/navigation/navigation_training/setup_completed.png differ diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.cc b/selfdrive/frogpilot/navigation/ui/maps_settings.cc new file mode 100644 index 000000000..21bee76d0 --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/maps_settings.cc @@ -0,0 +1,246 @@ +#include + +#include + +#include "selfdrive/frogpilot/navigation/ui/maps_settings.h" + +FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent), mapsFolderPath{"/data/media/0/osm/offline"} { + QVBoxLayout *mainLayout = new QVBoxLayout(); + addItem(mainLayout); + + mapsLayout = new QStackedLayout(); + mainLayout->addLayout(mapsLayout); + + FrogPilotListWidget *settingsList = new FrogPilotListWidget(this); + + std::vector scheduleOptions{tr("Manually"), tr("Weekly"), tr("Monthly")}; + ButtonParamControl *preferredSchedule = new ButtonParamControl("PreferredSchedule", tr("Automatically Update Maps"), + tr("Controls the frequency at which maps update with the latest OpenStreetMap (OSM) changes. " + "Weekly updates begin at midnight every Sunday, while monthly updates start at midnight on the 1st of each month."), + "", + scheduleOptions); + settingsList->addItem(preferredSchedule); + + std::vector mapOptions{tr("COUNTRIES"), tr("STATES")}; + FrogPilotButtonsControl *selectMaps = new FrogPilotButtonsControl(tr("Select Map Data Sources"), + tr("Select map data sources to use with 'Curve Speed Control' and 'Speed Limit Controller'."), + mapOptions); + QObject::connect(selectMaps, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + mapsLayout->setCurrentIndex(id + 1); + openMapSelection(); + }); + settingsList->addItem(selectMaps); + + downloadMapsButton = new ButtonControl(tr("Download Maps"), tr("DOWNLOAD"), tr("Downloads the selected maps to use with 'Curve Speed Control' and 'Speed Limit Controller'.")); + QObject::connect(downloadMapsButton, &ButtonControl::clicked, [this] { + if (downloadMapsButton->text() == tr("CANCEL")) { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to cancel the download?"), this)) { + cancelDownload(); + } + } else { + startDownload(); + } + }); + settingsList->addItem(downloadMapsButton); + + settingsList->addItem(downloadETA = new LabelControl(tr("Download Completion ETA"))); + settingsList->addItem(downloadStatus = new LabelControl(tr("Download Progress"))); + settingsList->addItem(downloadTimeElapsed = new LabelControl(tr("Download Time Elapsed"))); + settingsList->addItem(lastMapsDownload = new LabelControl(tr("Maps Last Updated"), params.get("LastMapsUpdate").empty() ? "Never" : QString::fromStdString(params.get("LastMapsUpdate")))); + settingsList->addItem(mapsSize = new LabelControl(tr("Downloaded Maps Size"), calculateDirectorySize(mapsFolderPath))); + + downloadETA->setVisible(false); + downloadStatus->setVisible(false); + downloadTimeElapsed->setVisible(false); + + removeMapsButton = new ButtonControl(tr("Remove Maps"), tr("REMOVE"), tr("Removes downloaded maps to clear up storage space.")); + QObject::connect(removeMapsButton, &ButtonControl::clicked, [this] { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to delete all of your downloaded maps?"), this)) { + std::thread([this] { + mapsSize->setText("0 MB"); + + std::system("rm -rf /data/media/0/osm/offline"); + }).detach(); + } + }); + settingsList->addItem(removeMapsButton); + + ScrollView *settingsPanel = new ScrollView(settingsList, this); + mapsLayout->addWidget(settingsPanel); + + FrogPilotListWidget *countriesList = new FrogPilotListWidget(this); + std::vector>> countries = { + {tr("Africa"), africaMap}, + {tr("Antarctica"), antarcticaMap}, + {tr("Asia"), asiaMap}, + {tr("Europe"), europeMap}, + {tr("North America"), northAmericaMap}, + {tr("Oceania"), oceaniaMap}, + {tr("South America"), southAmericaMap} + }; + + for (std::pair> country : countries) { + countriesList->addItem(new LabelControl(country.first, "")); + countriesList->addItem(new MapSelectionControl(country.second, true)); + } + + ScrollView *countryMapsPanel = new ScrollView(countriesList, this); + mapsLayout->addWidget(countryMapsPanel); + + FrogPilotListWidget *statesList = new FrogPilotListWidget(this); + std::vector>> states = { + {tr("United States - Midwest"), midwestMap}, + {tr("United States - Northeast"), northeastMap}, + {tr("United States - South"), southMap}, + {tr("United States - West"), westMap}, + {tr("United States - Territories"), territoriesMap} + }; + + for (std::pair> state : states) { + statesList->addItem(new LabelControl(state.first, "")); + statesList->addItem(new MapSelectionControl(state.second)); + } + + ScrollView *stateMapsPanel = new ScrollView(statesList, this); + mapsLayout->addWidget(stateMapsPanel); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeMapSelection, [this] { + std::string mapsSelected = params.get("MapsSelected"); + hasMapsSelected = !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("nations").toArray().isEmpty(); + hasMapsSelected |= !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("states").toArray().isEmpty(); + + mapsLayout->setCurrentIndex(0); + }); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotMapsPanel::updateState); +} + +void FrogPilotMapsPanel::showEvent(QShowEvent *event) { + std::string mapsSelected = params.get("MapsSelected"); + hasMapsSelected = !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("nations").toArray().isEmpty(); + hasMapsSelected |= !QJsonDocument::fromJson(QByteArray::fromStdString(mapsSelected)).object().value("states").toArray().isEmpty(); + + removeMapsButton->setVisible(QDir(mapsFolderPath).exists()); + + std::string osmDownloadProgress = params.get("OSMDownloadProgress"); + if (!osmDownloadProgress.empty()) { + downloadMapsButton->setText(tr("CANCEL")); + downloadStatus->setText("Calculating..."); + + downloadStatus->setVisible(true); + + lastMapsDownload->setVisible(false); + removeMapsButton->setVisible(false); + + updateDownloadLabels(osmDownloadProgress); + } +} + + +void FrogPilotMapsPanel::updateState(const UIState &s) { + if (!isVisible() || s.sm->frame % (UI_FREQ / 2) != 0) { + return; + } + + downloadMapsButton->setEnabled(!cancellingDownload && hasMapsSelected && s.scene.online); + + std::string osmDownloadProgress = params.get("OSMDownloadProgress"); + if (!osmDownloadProgress.empty() && !cancellingDownload) { + updateDownloadLabels(osmDownloadProgress); + } + + parent->keepScreenOn = !osmDownloadProgress.empty(); +} + +void FrogPilotMapsPanel::cancelDownload() { + cancellingDownload = true; + + downloadMapsButton->setEnabled(false); + + downloadETA->setText("Cancelling..."); + downloadMapsButton->setText(tr("CANCELLED")); + downloadStatus->setText("Cancelling..."); + downloadTimeElapsed->setText("Cancelling..."); + + params.remove("OSMDownloadProgress"); + params_memory.remove("OSMDownloadLocations"); + + std::system("pkill mapd"); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + + downloadMapsButton->setEnabled(true); + + downloadMapsButton->setText(tr("DOWNLOAD")); + + downloadETA->setVisible(false); + downloadStatus->setVisible(false); + downloadTimeElapsed->setVisible(false); + + lastMapsDownload->setVisible(true); + removeMapsButton->setVisible(QDir(mapsFolderPath).exists()); + + update(); + }); +} + +void FrogPilotMapsPanel::startDownload() { + downloadETA->setText("Calculating..."); + downloadMapsButton->setText(tr("CANCEL")); + downloadStatus->setText("Calculating..."); + downloadTimeElapsed->setText("Calculating..."); + + downloadETA->setVisible(true); + downloadStatus->setVisible(true); + downloadTimeElapsed->setVisible(true); + + lastMapsDownload->setVisible(false); + removeMapsButton->setVisible(false); + + elapsedTime.start(); + startTime = QDateTime::currentDateTime(); + + params_memory.put("OSMDownloadLocations", params.get("MapsSelected")); +} + +void FrogPilotMapsPanel::updateDownloadLabels(std::string &osmDownloadProgress) { + static std::regex fileStatusRegex(R"("total_files":(\d+),.*"downloaded_files":(\d+))"); + + std::smatch match; + if (std::regex_search(osmDownloadProgress, match, fileStatusRegex)) { + int totalFiles = std::stoi(match[1].str()); + int downloadedFiles = std::stoi(match[2].str()); + + if (downloadedFiles == totalFiles) { + downloadMapsButton->setText(tr("DOWNLOAD")); + lastMapsDownload->setText(formatCurrentDate()); + + downloadETA->setVisible(false); + downloadStatus->setVisible(false); + downloadTimeElapsed->setVisible(false); + + lastMapsDownload->setVisible(true); + removeMapsButton->setVisible(true); + + params.put("LastMapsUpdate", formatCurrentDate().toStdString()); + params.remove("OSMDownloadProgress"); + + update(); + + return; + } + + static int previousDownloadedFiles = 0; + if (downloadedFiles != previousDownloadedFiles) { + std::thread([=]() { + mapsSize->setText(calculateDirectorySize(mapsFolderPath)); + }).detach(); + } + + downloadETA->setText(QString("%1").arg(formatETA(elapsedTime.elapsed(), downloadedFiles, previousDownloadedFiles, totalFiles, startTime))); + downloadStatus->setText(QString("%1 / %2 (%3%)").arg(downloadedFiles).arg(totalFiles).arg((downloadedFiles * 100) / totalFiles)); + downloadTimeElapsed->setText(formatElapsedTime(elapsedTime.elapsed())); + + previousDownloadedFiles = downloadedFiles; + } +} diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.h b/selfdrive/frogpilot/navigation/ui/maps_settings.h new file mode 100644 index 000000000..e492851cf --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/maps_settings.h @@ -0,0 +1,48 @@ +#pragma once + +#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotMapsPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotMapsPanel(FrogPilotSettingsWindow *parent); + +signals: + void openMapSelection(); + +protected: + void showEvent(QShowEvent *event) override; + +private: + void cancelDownload(); + void startDownload(); + void updateDownloadLabels(std::string &osmDownloadProgress); + void updateState(const UIState &s); + + bool cancellingDownload; + bool hasMapsSelected; + + ButtonControl *downloadMapsButton; + ButtonControl *removeMapsButton; + + FrogPilotSettingsWindow *parent; + + LabelControl *downloadETA; + LabelControl *downloadStatus; + LabelControl *downloadTimeElapsed; + LabelControl *lastMapsDownload; + LabelControl *mapsSize; + + Params params; + Params params_memory{"/dev/shm/params"}; + + QDateTime startTime; + + QElapsedTimer elapsedTime; + + QString mapsFolderPath; + + QStackedLayout *mapsLayout; +}; diff --git a/selfdrive/frogpilot/navigation/ui/navigation_functions.cc b/selfdrive/frogpilot/navigation/ui/navigation_functions.cc new file mode 100644 index 000000000..b89c1dfab --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/navigation_functions.cc @@ -0,0 +1,60 @@ +#include +#include + +#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" + +MapSelectionControl::MapSelectionControl(const QMap &map, bool isCountry) : mapData(map), isCountry(isCountry), selectionType(isCountry ? "nations" : "states") { + mapButtons = new QButtonGroup(this); + mapButtons->setExclusive(false); + + mapLayout = new QGridLayout(this); + + QList keys = mapData.keys(); + for (int i = 0; i < keys.size(); ++i) { + QPushButton *button = new QPushButton(mapData[keys[i]], this); + button->setCheckable(true); + button->setStyleSheet(buttonStyle); + + mapButtons->addButton(button, i); + + mapLayout->addWidget(button, i / 3, i % 3); + + QObject::connect(button, &QPushButton::toggled, this, &MapSelectionControl::updateSelectedMaps); + } + + maps = mapButtons->buttons(); + mapSelections = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))).object().value(selectionType).toArray(); + + loadSelectedMaps(); +} + +void MapSelectionControl::loadSelectedMaps() { + for (int i = 0; i < mapSelections.size(); ++i) { + QString selectedKey = mapSelections[i].toString(); + for (int j = 0; j < maps.size(); ++j) { + QAbstractButton *button = maps[j]; + if (button->text() == mapData.value(selectedKey)) { + button->setChecked(true); + break; + } + } + } +} + +void MapSelectionControl::updateSelectedMaps() { + for (QAbstractButton *button : maps) { + QString key = mapData.key(button->text()); + if (button->isChecked() && !mapSelections.contains(key)) { + mapSelections.append(key); + } else if (!button->isChecked()) { + for (int i = 0; i < mapSelections.size(); ++i) { + if (mapSelections[i].toString() == key) { + mapSelections.removeAt(i); + --i; + } + } + } + } + + params.put("MapsSelected", QString::fromUtf8(QJsonDocument(QJsonObject{{selectionType, mapSelections}}).toJson(QJsonDocument::Compact)).toStdString()); +} diff --git a/selfdrive/frogpilot/navigation/ui/navigation_functions.h b/selfdrive/frogpilot/navigation/ui/navigation_functions.h new file mode 100644 index 000000000..855d88b98 --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/navigation_functions.h @@ -0,0 +1,229 @@ +#pragma once + +#include + +#include +#include + +#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h" + +inline QMap northeastMap = { + {"CT", "Connecticut"}, {"ME", "Maine"}, {"MA", "Massachusetts"}, + {"NH", "New Hampshire"}, {"NJ", "New Jersey"}, {"NY", "New York"}, + {"PA", "Pennsylvania"}, {"RI", "Rhode Island"}, {"VT", "Vermont"} +}; + +inline QMap midwestMap = { + {"IL", "Illinois"}, {"IN", "Indiana"}, {"IA", "Iowa"}, + {"KS", "Kansas"}, {"MI", "Michigan"}, {"MN", "Minnesota"}, + {"MO", "Missouri"}, {"NE", "Nebraska"}, {"ND", "North Dakota"}, + {"OH", "Ohio"}, {"SD", "South Dakota"}, {"WI", "Wisconsin"} +}; + +inline QMap southMap = { + {"AL", "Alabama"}, {"AR", "Arkansas"}, {"DE", "Delaware"}, + {"DC", "District of Columbia"}, {"FL", "Florida"}, {"GA", "Georgia"}, + {"KY", "Kentucky"}, {"LA", "Louisiana"}, {"MD", "Maryland"}, + {"MS", "Mississippi"}, {"NC", "North Carolina"}, {"OK", "Oklahoma"}, + {"SC", "South Carolina"}, {"TN", "Tennessee"}, {"TX", "Texas"}, + {"VA", "Virginia"}, {"WV", "West Virginia"} +}; + +inline QMap westMap = { + {"AK", "Alaska"}, {"AZ", "Arizona"}, {"CA", "California"}, + {"CO", "Colorado"}, {"HI", "Hawaii"}, {"ID", "Idaho"}, + {"MT", "Montana"}, {"NV", "Nevada"}, {"NM", "New Mexico"}, + {"OR", "Oregon"}, {"UT", "Utah"}, {"WA", "Washington"}, + {"WY", "Wyoming"} +}; + +inline QMap territoriesMap = { + {"AS", "American Samoa"}, {"GU", "Guam"}, {"MP", "Northern Mariana Islands"}, + {"PR", "Puerto Rico"}, {"VI", "Virgin Islands"} +}; + +inline QMap africaMap = { + {"DZ", "Algeria"}, {"AO", "Angola"}, {"BJ", "Benin"}, + {"BW", "Botswana"}, {"BF", "Burkina Faso"}, {"BI", "Burundi"}, + {"CM", "Cameroon"}, {"CF", "Central African Republic"}, {"TD", "Chad"}, + {"KM", "Comoros"}, {"CG", "Congo (Brazzaville)"}, {"CD", "Congo (Kinshasa)"}, + {"DJ", "Djibouti"}, {"EG", "Egypt"}, {"GQ", "Equatorial Guinea"}, + {"ER", "Eritrea"}, {"ET", "Ethiopia"}, {"GA", "Gabon"}, + {"GM", "Gambia"}, {"GH", "Ghana"}, {"GN", "Guinea"}, + {"GW", "Guinea-Bissau"}, {"CI", "Ivory Coast"}, {"KE", "Kenya"}, + {"LS", "Lesotho"}, {"LR", "Liberia"}, {"LY", "Libya"}, + {"MG", "Madagascar"}, {"MW", "Malawi"}, {"ML", "Mali"}, + {"MR", "Mauritania"}, {"MA", "Morocco"}, {"MZ", "Mozambique"}, + {"NA", "Namibia"}, {"NE", "Niger"}, {"NG", "Nigeria"}, + {"RW", "Rwanda"}, {"SN", "Senegal"}, {"SL", "Sierra Leone"}, + {"SO", "Somalia"}, {"ZA", "South Africa"}, {"SS", "South Sudan"}, + {"SD", "Sudan"}, {"SZ", "Swaziland"}, {"TZ", "Tanzania"}, + {"TG", "Togo"}, {"TN", "Tunisia"}, {"UG", "Uganda"}, + {"ZM", "Zambia"}, {"ZW", "Zimbabwe"} +}; + +inline QMap antarcticaMap = { + {"AQ", "Antarctica"} +}; + +inline QMap asiaMap = { + {"AF", "Afghanistan"}, {"AM", "Armenia"}, {"AZ", "Azerbaijan"}, + {"BH", "Bahrain"}, {"BD", "Bangladesh"}, {"BT", "Bhutan"}, + {"BN", "Brunei"}, {"KH", "Cambodia"}, {"CN", "China"}, + {"CY", "Cyprus"}, {"TL", "East Timor"}, {"HK", "Hong Kong"}, + {"IN", "India"}, {"ID", "Indonesia"}, {"IR", "Iran"}, + {"IQ", "Iraq"}, {"IL", "Israel"}, {"JP", "Japan"}, + {"JO", "Jordan"}, {"KZ", "Kazakhstan"}, {"KW", "Kuwait"}, + {"KG", "Kyrgyzstan"}, {"LA", "Laos"}, {"LB", "Lebanon"}, + {"MY", "Malaysia"}, {"MV", "Maldives"}, {"MO", "Macao"}, + {"MN", "Mongolia"}, {"MM", "Myanmar"}, {"NP", "Nepal"}, + {"KP", "North Korea"}, {"OM", "Oman"}, {"PK", "Pakistan"}, + {"PS", "Palestine"}, {"PH", "Philippines"}, {"QA", "Qatar"}, + {"RU", "Russia"}, {"SA", "Saudi Arabia"}, {"SG", "Singapore"}, + {"KR", "South Korea"}, {"LK", "Sri Lanka"}, {"SY", "Syria"}, + {"TW", "Taiwan"}, {"TJ", "Tajikistan"}, {"TH", "Thailand"}, + {"TR", "Turkey"}, {"TM", "Turkmenistan"}, {"AE", "United Arab Emirates"}, + {"UZ", "Uzbekistan"}, {"VN", "Vietnam"}, {"YE", "Yemen"} +}; + +inline QMap europeMap = { + {"AL", "Albania"}, {"AT", "Austria"}, {"BY", "Belarus"}, + {"BE", "Belgium"}, {"BA", "Bosnia and Herzegovina"}, {"BG", "Bulgaria"}, + {"HR", "Croatia"}, {"CZ", "Czech Republic"}, {"DK", "Denmark"}, + {"EE", "Estonia"}, {"FI", "Finland"}, {"FR", "France"}, + {"GE", "Georgia"}, {"DE", "Germany"}, {"GR", "Greece"}, + {"HU", "Hungary"}, {"IS", "Iceland"}, {"IE", "Ireland"}, + {"IT", "Italy"}, {"KZ", "Kazakhstan"}, {"LV", "Latvia"}, + {"LT", "Lithuania"}, {"LU", "Luxembourg"}, {"MK", "Macedonia"}, + {"MD", "Moldova"}, {"ME", "Montenegro"}, {"NL", "Netherlands"}, + {"NO", "Norway"}, {"PL", "Poland"}, {"PT", "Portugal"}, + {"RO", "Romania"}, {"RS", "Serbia"}, {"SK", "Slovakia"}, + {"SI", "Slovenia"}, {"ES", "Spain"}, {"SE", "Sweden"}, + {"CH", "Switzerland"}, {"TR", "Turkey"}, {"UA", "Ukraine"}, + {"GB", "United Kingdom"} +}; + +inline QMap northAmericaMap = { + {"BS", "Bahamas"}, {"BZ", "Belize"}, {"CA", "Canada"}, + {"CR", "Costa Rica"}, {"CU", "Cuba"}, {"DO", "Dominican Republic"}, + {"SV", "El Salvador"}, {"GL", "Greenland"}, {"GD", "Grenada"}, + {"GT", "Guatemala"}, {"HT", "Haiti"}, {"HN", "Honduras"}, + {"JM", "Jamaica"}, {"MX", "Mexico"}, {"NI", "Nicaragua"}, + {"PA", "Panama"}, {"TT", "Trinidad and Tobago"}, {"US", "United States"} +}; + +inline QMap oceaniaMap = { + {"AU", "Australia"}, {"FJ", "Fiji"}, {"TF", "French Southern Territories"}, + {"NC", "New Caledonia"}, {"NZ", "New Zealand"}, {"PG", "Papua New Guinea"}, + {"SB", "Solomon Islands"}, {"VU", "Vanuatu"} +}; + +inline QMap southAmericaMap = { + {"AR", "Argentina"}, {"BO", "Bolivia"}, {"BR", "Brazil"}, + {"CL", "Chile"}, {"CO", "Colombia"}, {"EC", "Ecuador"}, + {"FK", "Falkland Islands"}, {"GY", "Guyana"}, {"PY", "Paraguay"}, + {"PE", "Peru"}, {"SR", "Suriname"}, {"UY", "Uruguay"}, + {"VE", "Venezuela"} +}; + +inline QString calculateDirectorySize(const QString &directoryPath) { + namespace fs = std::filesystem; + + constexpr double oneMB = 1024 * 1024; + constexpr double oneGB = 1024 * 1024 * 1024; + + fs::path path(directoryPath.toStdString()); + if (!fs::exists(path) || !fs::is_directory(path)) { + return "0 MB"; + } + + double totalSize = 0; + for (fs::recursive_directory_iterator iter(path, fs::directory_options::skip_permission_denied), end; iter != end; ++iter) { + const fs::directory_entry &entry = *iter; + if (entry.is_regular_file()) { + totalSize += entry.file_size(); + } + } + + if (totalSize >= oneGB) { + return QString::number(totalSize / oneGB, 'f', 2) + " GB"; + } + return QString::number(totalSize / oneMB, 'f', 2) + " MB"; +} + +inline QString daySuffix(int day) { + if (day % 10 == 1 && day != 11) return "st"; + if (day % 10 == 2 && day != 12) return "nd"; + if (day % 10 == 3 && day != 13) return "rd"; + return "th"; +} + +inline QString formatCurrentDate() { + QDate currentDate = QDate::currentDate(); + return currentDate.toString("MMMM d'") + daySuffix(currentDate.day()) + QString(", %1").arg(currentDate.year()); +} + +inline QString formatElapsedTime(float elapsedMilliseconds) { + int totalSeconds = elapsedMilliseconds / 1000; + int hours = totalSeconds / 3600; + int minutes = (totalSeconds % 3600) / 60; + int seconds = totalSeconds % 60; + + QString formattedTime; + if (hours > 0) { + formattedTime += QString::number(hours) + (hours == 1 ? " hour " : " hours "); + } + if (minutes > 0) { + formattedTime += QString::number(minutes) + (minutes == 1 ? " minute " : " minutes "); + } + formattedTime += QString::number(seconds) + (seconds == 1 ? " second" : " seconds"); + + return formattedTime.trimmed(); +} + +inline QString formatETA(float elapsedTime, int downloadedFiles, int previousDownloadedFiles, int totalFiles, QDateTime &startTime) { + static QDateTime estimatedFinishTime; + + static float previousElapsedTime; + + if (downloadedFiles != previousDownloadedFiles) { + estimatedFinishTime = startTime.addMSecs((elapsedTime * totalFiles) / downloadedFiles); + } else { + estimatedFinishTime = estimatedFinishTime.addSecs((previousElapsedTime - elapsedTime) / 1000); + } + previousElapsedTime = elapsedTime; + + int remainingTime = QDateTime::currentDateTime().secsTo(estimatedFinishTime); + + QString estimatedFinishTimeStr = estimatedFinishTime.toString("h:mm AP"); + QString remainingTimeStr = formatElapsedTime(remainingTime * 1000); + + return QString("%1 (%2)").arg(remainingTimeStr).arg(estimatedFinishTimeStr); +} + +class MapSelectionControl : public QWidget { + Q_OBJECT + +public: + MapSelectionControl(const QMap &map, bool isCountry = false); + +private: + void loadSelectedMaps(); + void updateSelectedMaps(); + + bool isCountry; + + Params params; + + QButtonGroup *mapButtons; + + QGridLayout *mapLayout; + + QJsonArray mapSelections; + + QList maps; + + QMap mapData; + + QString selectionType; +}; diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.cc b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc new file mode 100644 index 000000000..09da31d43 --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc @@ -0,0 +1,218 @@ +#include "selfdrive/frogpilot/navigation/ui/primeless_settings.h" + +void FrogPilotPrimelessPanel::createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix, FrogPilotListWidget *list) { + control = new ButtonControl(label, "", tr("Manage your %1.").arg(label)); + QObject::connect(control, &ButtonControl::clicked, [=] { + if (control->text() == tr("ADD")) { + QString key = InputDialog::getText(tr("Enter your %1").arg(label), this).trimmed(); + + if (!key.startsWith(prefix)) { + key = prefix + key; + } + if (key.length() >= 80) { + params.put(paramKey, key.toStdString()); + } else { + FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is invalid or too short!"), tr("Ok"), this); + } + } else { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your %1?").arg(label), this)) { + control->setText(tr("ADD")); + + params.put(paramKey, "0"); + params_storage.put(paramKey, "0"); + + setupCompleted = false; + } + } + }); + control->setText(QString::fromStdString(params.get(paramKey)).startsWith(prefix) ? tr("REMOVE") : tr("ADD")); + list->addItem(control); +} + +FrogPilotPrimelessPanel::FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + QVBoxLayout *mainLayout = new QVBoxLayout(); + addItem(mainLayout); + + primelessLayout = new QStackedLayout(); + mainLayout->addLayout(primelessLayout); + + FrogPilotListWidget *settingsList = new FrogPilotListWidget(this); + ipLabel = new LabelControl(tr("Manage Your Settings At"), tr("Device Offline")); + settingsList->addItem(ipLabel); + + std::vector searchOptions{tr("MapBox"), tr("Amap"), tr("Google")}; + ButtonParamControl *searchInput = new ButtonParamControl("SearchInput", tr("Destination Search Provider"), + tr("The search provider used for destination queries in 'Navigate on Openpilot'. " + "Options include 'MapBox' (recommended), 'Amap', and 'Google Maps'."), + "", searchOptions); + QObject::connect(searchInput, &ButtonParamControl::buttonClicked, [this](int id) { + amapKeyControl1->setVisible(id == 1); + amapKeyControl2->setVisible(id == 1); + + googleKeyControl->setVisible(id == 2); + + publicMapboxKeyControl->setVisible(id == 0); + secretMapboxKeyControl->setVisible(id == 0); + + update(); + }); + settingsList->addItem(searchInput); + + amapKeyControl1 = new ButtonControl(tr("Amap Key #1"), "", tr("Manage your Amap key.")); + QObject::connect(amapKeyControl1, &ButtonControl::clicked, [=] { + if (amapKeyControl1->text() == tr("ADD")) { + QString key = InputDialog::getText(tr("Enter your Amap key"), this).trimmed(); + + if (key.length() >= 39) { + params.put("AMapKey1", key.toStdString()); + } else { + FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is invalid or too short!"), tr("Ok"), this); + } + } else { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your Amap key?"), this)) { + amapKeyControl1->setText(tr("ADD")); + + params.put("AMapKey1", "0"); + params_storage.put("AMapKey1", "0"); + } + } + }); + amapKeyControl1->setText(QString::fromStdString(params.get("AMapKey1")) != "0" ? tr("REMOVE") : tr("ADD")); + settingsList->addItem(amapKeyControl1); + + amapKeyControl2 = new ButtonControl(tr("Amap Key #2"), "", tr("Manage your Amap key.")); + QObject::connect(amapKeyControl2, &ButtonControl::clicked, [=] { + if (amapKeyControl2->text() == tr("ADD")) { + QString key = InputDialog::getText(tr("Enter your Amap key"), this).trimmed(); + + if (key.length() >= 39) { + params.put("AMapKey2", key.toStdString()); + } else { + FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is invalid or too short!"), tr("Ok"), this); + } + } else { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your Amap key?"), this)) { + amapKeyControl2->setText(tr("ADD")); + + params.put("AMapKey2", "0"); + params_storage.put("AMapKey2", "0"); + } + } + }); + amapKeyControl2->setText(QString::fromStdString(params.get("AMapKey2")) != "0" ? tr("REMOVE") : tr("ADD")); + settingsList->addItem(amapKeyControl2); + + googleKeyControl = new ButtonControl(tr("Google Maps Key"), "", tr("Manage your Google Maps key.")); + QObject::connect(googleKeyControl, &ButtonControl::clicked, [=] { + if (googleKeyControl->text() == tr("ADD")) { + QString key = InputDialog::getText(tr("Enter your Google Maps key"), this).trimmed(); + + if (key.length() >= 25) { + params.put("GMapKey", key.toStdString()); + } else { + FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is invalid or too short!"), tr("Ok"), this); + } + } else { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your Google Maps key?"), this)) { + googleKeyControl->setText(tr("ADD")); + + params.put("GMapKey", "0"); + params_storage.put("GMapKey", "0"); + } + } + }); + googleKeyControl->setText(QString::fromStdString(params.get("GMapKey")) != "0" ? tr("REMOVE") : tr("ADD")); + settingsList->addItem(googleKeyControl); + + createMapboxKeyControl(publicMapboxKeyControl, tr("Public Mapbox Key"), "MapboxPublicKey", "pk.", settingsList); + createMapboxKeyControl(secretMapboxKeyControl, tr("Secret Mapbox Key"), "MapboxSecretKey", "sk.", settingsList); + + ButtonControl *setupButton = new ButtonControl(tr("MapBox Setup Instructions"), tr("VIEW"), tr("View the instructions to set up 'MapBox' for 'Primeless Navigation'."), this); + QObject::connect(setupButton, &ButtonControl::clicked, [this]() { + openMapBoxInstructions(); + updateStep(); + primelessLayout->setCurrentIndex(1); + }); + settingsList->addItem(setupButton); + + ScrollView *settingsPanel = new ScrollView(settingsList, this); + primelessLayout->addWidget(settingsPanel); + + imageLabel = new QLabel(this); + + ScrollView *instructionsPanel = new ScrollView(imageLabel, this); + primelessLayout->addWidget(instructionsPanel); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeMapBoxInstructions, [this] {primelessLayout->setCurrentIndex(0);}); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotPrimelessPanel::updateState); +} + +void FrogPilotPrimelessPanel::showEvent(QShowEvent *event) { + QString ipAddress = uiState()->wifi->getIp4Address(); + ipLabel->setText(ipAddress.isEmpty() ? tr("Device Offline") : QString("%1:8082").arg(ipAddress)); + + mapboxPublicKeySet = QString::fromStdString(params.get("MapboxPublicKey")).startsWith("pk"); + mapboxSecretKeySet = QString::fromStdString(params.get("MapboxSecretKey")).startsWith("sk"); + setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet; + + publicMapboxKeyControl->setText(mapboxPublicKeySet ? tr("REMOVE") : tr("ADD")); + secretMapboxKeyControl->setText(mapboxSecretKeySet ? tr("REMOVE") : tr("ADD")); + + int searchInput = params.getInt("SearchInput"); + + amapKeyControl1->setVisible(searchInput == 1); + amapKeyControl2->setVisible(searchInput == 1); + + googleKeyControl->setVisible(searchInput == 2); + + publicMapboxKeyControl->setVisible(searchInput == 0); + secretMapboxKeyControl->setVisible(searchInput == 0); +} + +void FrogPilotPrimelessPanel::hideEvent(QHideEvent *event) { + primelessLayout->setCurrentIndex(0); +} + +void FrogPilotPrimelessPanel::mousePressEvent(QMouseEvent *event) { + if (primelessLayout->currentIndex() == 1) { + closeMapBoxInstructions(); + primelessLayout->setCurrentIndex(0); + } +} + +void FrogPilotPrimelessPanel::updateState() { + if (!isVisible()) { + return; + } + + if (primelessLayout->currentIndex() == 1) { + mapboxPublicKeySet = QString::fromStdString(params.get("MapboxPublicKey")).startsWith("pk"); + mapboxSecretKeySet = QString::fromStdString(params.get("MapboxSecretKey")).startsWith("sk"); + + publicMapboxKeyControl->setText(mapboxPublicKeySet ? tr("REMOVE") : tr("ADD")); + secretMapboxKeyControl->setText(mapboxSecretKeySet ? tr("REMOVE") : tr("ADD")); + + updateStep(); + } + + parent->keepScreenOn = primelessLayout->currentIndex() == 1; +} + +void FrogPilotPrimelessPanel::updateStep() { + QString currentStep; + if (setupCompleted) { + currentStep = "../frogpilot/navigation/navigation_training/setup_completed.png"; + } else if (mapboxPublicKeySet && mapboxSecretKeySet) { + currentStep = "../frogpilot/navigation/navigation_training/both_keys_set.png"; + } else if (mapboxPublicKeySet) { + currentStep = "../frogpilot/navigation/navigation_training/public_key_set.png"; + } else { + currentStep = "../frogpilot/navigation/navigation_training/no_keys_set.png"; + } + + QPixmap pixmap; + pixmap.load(currentStep); + imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation)); + + update(); +} diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.h b/selfdrive/frogpilot/navigation/ui/primeless_settings.h new file mode 100644 index 000000000..2cae9c9e7 --- /dev/null +++ b/selfdrive/frogpilot/navigation/ui/primeless_settings.h @@ -0,0 +1,45 @@ +#pragma once + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotPrimelessPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent); + +signals: + void closeMapBoxInstructions(); + void openMapBoxInstructions(); + +protected: + void hideEvent(QHideEvent *event); + void showEvent(QShowEvent *event) override; + +private: + void createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix, FrogPilotListWidget *list); + void mousePressEvent(QMouseEvent *event); + void updateState(); + void updateStep(); + + bool mapboxPublicKeySet; + bool mapboxSecretKeySet; + bool setupCompleted; + + ButtonControl *amapKeyControl1; + ButtonControl *amapKeyControl2; + ButtonControl *googleKeyControl; + ButtonControl *publicMapboxKeyControl; + ButtonControl *secretMapboxKeyControl; + + FrogPilotSettingsWindow *parent; + + LabelControl *ipLabel; + + Params params; + Params params_storage{"/persist/params"}; + + QLabel *imageLabel; + + QStackedLayout *primelessLayout; +}; diff --git a/selfdrive/frogpilot/screenrecorder/blocking_queue.h b/selfdrive/frogpilot/screenrecorder/blocking_queue.h new file mode 100644 index 000000000..81ca4d5c2 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/blocking_queue.h @@ -0,0 +1,89 @@ +#pragma once +#include +#include +#include + +template +class BlockingQueue +{ +public: + std::deque content; + size_t capacity; + + std::mutex mutex; + std::condition_variable not_empty; + std::condition_variable not_full; + + BlockingQueue(const BlockingQueue &) = delete; + BlockingQueue(BlockingQueue &&) = delete; + BlockingQueue &operator = (const BlockingQueue &) = delete; + BlockingQueue &operator = (BlockingQueue &&) = delete; + + public: + BlockingQueue(size_t capacity): capacity(capacity) {} + + void clear() { + { + std::unique_lock lk(mutex); + content.clear(); + } + not_full.notify_one(); + } + + void push(T &&item) { + { + std::unique_lock lk(mutex); + not_full.wait(lk, [this]() { return content.size() < capacity; }); + content.push_back(std::move(item)); + } + not_empty.notify_one(); + } + + bool try_push(T &&item) { + { + std::unique_lock lk(mutex); + if (content.size() == capacity) + return false; + content.push_back(std::move(item)); + } + not_empty.notify_one(); + return true; + } + + void pop(T &item) { + { + std::unique_lock lk(mutex); + not_empty.wait(lk, [this]() { return !content.empty(); }); + item = std::move(content.front()); + content.pop_front(); + } + not_full.notify_one(); + } + + bool pop_wait_for(T &item, std::chrono::milliseconds duration) { + { + std::unique_lock lk(mutex); + if(not_empty.wait_for(lk, duration, [this]() { return !content.empty(); })) { + item = std::move(content.front()); + content.pop_front(); + } + else { + return false; + } + } + not_full.notify_one(); + return true; + } + + bool try_pop(T &item) { + { + std::unique_lock lk(mutex); + if (content.empty()) + return false; + item = std::move(content.front()); + content.pop_front(); + } + not_full.notify_one(); + return true; + } +}; \ No newline at end of file diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc new file mode 100644 index 000000000..69e3f5c6e --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc @@ -0,0 +1,566 @@ +#pragma clang diagnostic ignored "-Wdeprecated-declarations" + +#include "selfdrive/frogpilot/screenrecorder/omx_encoder.h" + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include "libyuv.h" +#include "msm_media_info.h" +#include "common/swaglog.h" +#include "common/util.h" + +ExitHandler do_exit; + +using namespace libyuv; + +LIBYUV_API +int ABGRToNV12(const uint8_t* src_abgr, + int src_stride_abgr, + uint8_t* dst_y, + int dst_stride_y, + uint8_t* dst_uv, + int dst_stride_uv, + int width, + int height) { + int y; + int halfwidth = (width + 1) >> 1; + + void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr, + uint8_t* dst_u, uint8_t* dst_v, int width) = ABGRToUVRow_NEON; + void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) = ABGRToYRow_NEON; + void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, + uint8_t* dst_uv, int width) = MergeUVRow_NEON; + + if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) { + return -1; + } + + if (height < 0) { + height = -height; + src_abgr = src_abgr + (height - 1) * src_stride_abgr; + src_stride_abgr = -src_stride_abgr; + } + + align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2); + uint8_t* row_v = row_u + ((halfwidth + 31) & ~31); + + for (y = 0; y < height - 1; y += 2) { + ABGRToUVRow(src_abgr, src_stride_abgr, row_u, row_v, width); + MergeUVRow_(row_u, row_v, dst_uv, halfwidth); + ABGRToYRow(src_abgr, dst_y, width); + ABGRToYRow(src_abgr + src_stride_abgr, dst_y + dst_stride_y, width); + src_abgr += src_stride_abgr * 2; + dst_y += dst_stride_y * 2; + dst_uv += dst_stride_uv; + } + + if (height & 1) { + ABGRToUVRow(src_abgr, 0, row_u, row_v, width); + MergeUVRow_(row_u, row_v, dst_uv, halfwidth); + ABGRToYRow(src_abgr, dst_y, width); + } + + free_aligned_buffer_64(row_u); + return 0; +} + +// Check the OMX error code and assert if an error occurred. +#define OMX_CHECK(_expr) \ + do { \ + assert(OMX_ErrorNone == (_expr)); \ + } while (0) + +// ***** OMX callback functions ***** + +void OmxEncoder::wait_for_state(OMX_STATETYPE state_) { + std::unique_lock lk(state_lock); + while (state != state_) { + state_cv.wait(lk); + } +} + +static OMX_CALLBACKTYPE omx_callbacks = { + .EventHandler = OmxEncoder::event_handler, + .EmptyBufferDone = OmxEncoder::empty_buffer_done, + .FillBufferDone = OmxEncoder::fill_buffer_done, +}; + +OMX_ERRORTYPE OmxEncoder::event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event, + OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data) { + OmxEncoder *e = (OmxEncoder*)app_data; + if (event == OMX_EventCmdComplete) { + assert(data1 == OMX_CommandStateSet); + LOG("set state event 0x%x", data2); + { + std::unique_lock lk(e->state_lock); + e->state = (OMX_STATETYPE)data2; + } + e->state_cv.notify_all(); + } else if (event == OMX_EventError) { + LOGE("OMX error 0x%08x", data1); + } else { + LOGE("OMX unhandled event %d", event); + assert(false); + } + + return OMX_ErrorNone; +} + +OMX_ERRORTYPE OmxEncoder::empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, + OMX_BUFFERHEADERTYPE *buffer) { + OmxEncoder *e = (OmxEncoder*)app_data; + e->free_in.push(buffer); + return OMX_ErrorNone; +} + +OMX_ERRORTYPE OmxEncoder::fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, + OMX_BUFFERHEADERTYPE *buffer) { + OmxEncoder *e = (OmxEncoder*)app_data; + e->done_out.push(buffer); + return OMX_ErrorNone; +} + +#define PORT_INDEX_IN 0 +#define PORT_INDEX_OUT 1 + +static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused)); +static const char* omx_color_fomat_name(uint32_t format) { + switch (format) { + case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused"; + case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome"; + case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332"; + case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444"; + case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444"; + case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555"; + case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565"; + case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565"; + case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666"; + case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665"; + case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666"; + case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888"; + case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888"; + case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887"; + case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888"; + case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888"; + case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888"; + case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar"; + case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar"; + case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar"; + case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar"; + case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar"; + case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar"; + case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar"; + case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar"; + case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr"; + case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb"; + case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY"; + case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY"; + case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved"; + case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit"; + case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit"; + case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed"; + case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2"; + case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4"; + case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8"; + case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16"; + case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24"; + case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32"; + case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar"; + case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar"; + case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666"; + case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666"; + case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666"; + + case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque"; + case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar"; + case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar"; + case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka"; + case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled"; + case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m"; + + case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka"; + case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka"; + case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView"; + case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed"; + case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888"; + case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed"; + + default: + return "unkn"; + } +} + + +// ***** encoder functions ***** + +OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) { + this->path = path; + this->width = width; + this->height = height; + this->fps = fps; + + OMX_ERRORTYPE err = OMX_Init(); + if (err != OMX_ErrorNone) { + LOGE("OMX_Init failed: %x", err); + return; + } + + OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc"); + err = OMX_GetHandle(&handle, component, this, &omx_callbacks); + if (err != OMX_ErrorNone) { + LOGE("Error getting codec: %x", err); + OMX_Deinit(); + return; + } + + // setup input port + OMX_PARAM_PORTDEFINITIONTYPE in_port = {0}; + in_port.nSize = sizeof(in_port); + in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN; + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); + + in_port.format.video.nFrameWidth = width; + in_port.format.video.nFrameHeight = height; + in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + in_port.format.video.nSliceHeight = height; + in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); + in_port.format.video.xFramerate = (fps * 65536); + in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused; + in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m; + + OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); + in_buf_headers.resize(in_port.nBufferCountActual); + + // setup output port + OMX_PARAM_PORTDEFINITIONTYPE out_port; + memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE)); + out_port.nSize = sizeof(out_port); + out_port.nVersion.s.nVersionMajor = 1; + out_port.nVersion.s.nVersionMinor = 0; + out_port.nVersion.s.nRevision = 0; + out_port.nVersion.s.nStep = 0; + out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT; + + OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port); + if (error != OMX_ErrorNone) { + LOGE("Error getting output port parameters: 0x%08x", error); + return; + } + + out_port.format.video.nFrameWidth = width; + out_port.format.video.nFrameHeight = height; + out_port.format.video.xFramerate = 0; + out_port.format.video.nBitrate = bitrate; + out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC; + out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused; + + error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port); + if (error != OMX_ErrorNone) { + LOGE("Error setting output port parameters: 0x%08x", error); + return; + } + + error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port); + if (error != OMX_ErrorNone) { + LOGE("Error getting updated output port parameters: 0x%08x", error); + return; + } + + out_buf_headers.resize(out_port.nBufferCountActual); + + OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0}; + bitrate_type.nSize = sizeof(bitrate_type); + bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT; + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); + bitrate_type.eControlRate = OMX_Video_ControlRateVariable; + bitrate_type.nTargetBitrate = bitrate; + + OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); + + // setup h264 + OMX_VIDEO_PARAM_AVCTYPE avc = {0}; + avc.nSize = sizeof(avc); + avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT; + OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc)); + + avc.nBFrames = 0; + avc.nPFrames = 15; + + avc.eProfile = OMX_VIDEO_AVCProfileHigh; + avc.eLevel = OMX_VIDEO_AVCLevel31; + + avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB; + avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable; + + avc.nRefFrames = 1; + avc.bUseHadamard = OMX_TRUE; + avc.bEntropyCodingCABAC = OMX_TRUE; + avc.bWeightedPPrediction = OMX_TRUE; + avc.bconstIpred = OMX_TRUE; + + OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc)); + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); + + for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) { + OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize)); + } + + for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) { + OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize)); + } + + wait_for_state(OMX_StateIdle); + + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL)); + + wait_for_state(OMX_StateExecuting); + + // give omx all the output buffers + for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) { + OMX_CHECK(OMX_FillThisBuffer(handle, buf)); + } + + // fill the input free queue + for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) { + free_in.push(buf); + } +} + +void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) { + int err; + uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset; + + if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) { + if (encoder->codec_config_len < out_buf->nFilledLen) { + encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen); + } + encoder->codec_config_len = out_buf->nFilledLen; + memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen); +#ifdef QCOM2 + out_buf->nTimeStamp = 0; +#endif + } + + if (encoder->of) { + fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of); + } + + if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) { + // extradata will be freed by av_free() in avcodec_free_context() + encoder->codec_ctx->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE); + encoder->codec_ctx->extradata_size = encoder->codec_config_len; + memcpy(encoder->codec_ctx->extradata, encoder->codec_config, encoder->codec_config_len); + + err = avcodec_parameters_from_context(encoder->out_stream->codecpar, encoder->codec_ctx); + assert(err >= 0); + err = avformat_write_header(encoder->ofmt_ctx, NULL); + assert(err >= 0); + + encoder->wrote_codec_config = true; + } + + if (out_buf->nTimeStamp > 0) { + // input timestamps are in microseconds + AVRational in_timebase = {1, 1000000}; + + AVPacket pkt; + av_init_packet(&pkt); + pkt.data = buf_data; + pkt.size = out_buf->nFilledLen; + + enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); + pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->ofmt_ctx->streams[0]->time_base, rnd); + pkt.duration = av_rescale_q(50 * 1000, in_timebase, encoder->ofmt_ctx->streams[0]->time_base); + + if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) { + pkt.flags |= AV_PKT_FLAG_KEY; + } + + err = av_write_frame(encoder->ofmt_ctx, &pkt); + if (err < 0) { + LOGW("ts encoder write issue"); + } + + av_free_packet(&pkt); + } + + // give omx back the buffer +#ifdef QCOM2 + if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) { + out_buf->nTimeStamp = 0; + } +#endif + OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf)); +} + +int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) { + if (!is_open) { + return -1; + } + + // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates... + // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this + OMX_BUFFERHEADERTYPE* in_buf = nullptr; + while (!free_in.try_pop(in_buf, 20)) { + if (do_exit) { + return -1; + } + } + + int ret = counter; + + uint8_t *in_buf_ptr = in_buf->pBuffer; + + uint8_t *in_y_ptr = in_buf_ptr; + int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); + int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width); + uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height)); + + int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height); + assert(err == 0); + + in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); + in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME; + in_buf->nOffset = 0; + in_buf->nTimeStamp = ts / 1000LL; // OMX_TICKS, in microseconds + last_t = in_buf->nTimeStamp; + + OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf)); + + // pump output + while (true) { + OMX_BUFFERHEADERTYPE *out_buf; + if (!done_out.try_pop(out_buf)) { + break; + } + handle_out_buf(this, out_buf); + } + + dirty = true; + + counter++; + + return ret; +} + +void OmxEncoder::encoder_open(const char* filename) { + struct stat st = {0}; + if (stat(path.c_str(), &st) == -1) { + mkdir(path.c_str(), 0755); + } + + snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename); + + avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path); + assert(ofmt_ctx); + + out_stream = avformat_new_stream(ofmt_ctx, NULL); + assert(out_stream); + + // set codec correctly + av_register_all(); + + AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_H264); + assert(codec); + + codec_ctx = avcodec_alloc_context3(codec); + assert(codec_ctx); + codec_ctx->width = width; + codec_ctx->height = height; + codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; + codec_ctx->time_base = {1, fps}; + + int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE); + assert(err >= 0); + + wrote_codec_config = false; + + // create camera lock file + snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename); + int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664)); + assert(lock_fd >= 0); + close(lock_fd); + + is_open = true; + counter = 0; +} + +void OmxEncoder::encoder_close() { + if (is_open) { + if (dirty) { + // drain output only if there could be frames in the encoder + + OMX_BUFFERHEADERTYPE* in_buf = free_in.pop(); + in_buf->nFilledLen = 0; + in_buf->nOffset = 0; + in_buf->nFlags = OMX_BUFFERFLAG_EOS; + in_buf->nTimeStamp = last_t + 1000000LL / fps; + + OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf)); + + while (true) { + OMX_BUFFERHEADERTYPE *out_buf = done_out.pop(); + + handle_out_buf(this, out_buf); + + if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) { + break; + } + } + dirty = false; + } + + av_write_trailer(ofmt_ctx); + avcodec_free_context(&codec_ctx); + avio_closep(&ofmt_ctx->pb); + avformat_free_context(ofmt_ctx); + unlink(lock_path); + } + is_open = false; +} + +OmxEncoder::~OmxEncoder() { + assert(!is_open); + + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); + + wait_for_state(OMX_StateIdle); + + OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL)); + + for (OMX_BUFFERHEADERTYPE* buf : in_buf_headers) { + OMX_CHECK(OMX_FreeBuffer(handle, PORT_INDEX_IN, buf)); + } + + for (OMX_BUFFERHEADERTYPE* buf : out_buf_headers) { + OMX_CHECK(OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf)); + } + + wait_for_state(OMX_StateLoaded); + + OMX_CHECK(OMX_FreeHandle(handle)); + + OMX_ERRORTYPE err = OMX_Deinit(); + if (err != OMX_ErrorNone) { + LOGE("OMX_Deinit failed: %x", err); + } + + OMX_BUFFERHEADERTYPE *out_buf; + while (free_in.try_pop(out_buf)); + while (done_out.try_pop(out_buf)); + + if (codec_config) { + free(codec_config); + } +} diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.h b/selfdrive/frogpilot/screenrecorder/omx_encoder.h new file mode 100644 index 000000000..72db396f3 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/omx_encoder.h @@ -0,0 +1,68 @@ +#pragma once + +#include +#include +#include +#include + +#include +extern "C" { +#include +} + +#include "common/queue.h" + +// OmxEncoder, lossey codec using hardware hevc +class OmxEncoder { +public: + OmxEncoder(const char* path, int width, int height, int fps, int bitrate); + ~OmxEncoder(); + + int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts); + void encoder_open(const char* filename); + void encoder_close(); + + // OMX callbacks + static OMX_ERRORTYPE event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event, + OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data); + static OMX_ERRORTYPE empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, + OMX_BUFFERHEADERTYPE *buffer); + static OMX_ERRORTYPE fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, + OMX_BUFFERHEADERTYPE *buffer); + +private: + void wait_for_state(OMX_STATETYPE state); + static void handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf); + + int width, height, fps; + char vid_path[1024]; + char lock_path[1024]; + bool is_open = false; + bool dirty = false; + int counter = 0; + + std::string path; + FILE *of; + + size_t codec_config_len; + uint8_t *codec_config = NULL; + bool wrote_codec_config; + + std::mutex state_lock; + std::condition_variable state_cv; + OMX_STATETYPE state = OMX_StateLoaded; + + OMX_HANDLETYPE handle; + + std::vector in_buf_headers; + std::vector out_buf_headers; + + uint64_t last_t; + + SafeQueue free_in; + SafeQueue done_out; + + AVFormatContext *ofmt_ctx; + AVCodecContext *codec_ctx; + AVStream *out_stream; +}; diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Audio.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Audio.h new file mode 100644 index 000000000..0d455766c --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Audio.h @@ -0,0 +1,1312 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** @file OMX_Audio.h - OpenMax IL version 1.1.2 + * The structures needed by Audio components to exchange + * parameters and configuration data with the componenmilts. + */ + +#ifndef OMX_Audio_h +#define OMX_Audio_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +/* Each OMX header must include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ + +#include + +/** @defgroup midi MIDI + * @ingroup audio + */ + +/** @defgroup effects Audio effects + * @ingroup audio + */ + +/** @defgroup audio OpenMAX IL Audio Domain + * Structures for OpenMAX IL Audio domain + * @{ + */ + +/** Enumeration used to define the possible audio codings. + * If "OMX_AUDIO_CodingUnused" is selected, the coding selection must + * be done in a vendor specific way. Since this is for an audio + * processing element this enum is relevant. However, for another + * type of component other enums would be in this area. + */ +typedef enum OMX_AUDIO_CODINGTYPE { + OMX_AUDIO_CodingUnused = 0, /**< Placeholder value when coding is N/A */ + OMX_AUDIO_CodingAutoDetect, /**< auto detection of audio format */ + OMX_AUDIO_CodingPCM, /**< Any variant of PCM coding */ + OMX_AUDIO_CodingADPCM, /**< Any variant of ADPCM encoded data */ + OMX_AUDIO_CodingAMR, /**< Any variant of AMR encoded data */ + OMX_AUDIO_CodingGSMFR, /**< Any variant of GSM fullrate (i.e. GSM610) */ + OMX_AUDIO_CodingGSMEFR, /**< Any variant of GSM Enhanced Fullrate encoded data*/ + OMX_AUDIO_CodingGSMHR, /**< Any variant of GSM Halfrate encoded data */ + OMX_AUDIO_CodingPDCFR, /**< Any variant of PDC Fullrate encoded data */ + OMX_AUDIO_CodingPDCEFR, /**< Any variant of PDC Enhanced Fullrate encoded data */ + OMX_AUDIO_CodingPDCHR, /**< Any variant of PDC Halfrate encoded data */ + OMX_AUDIO_CodingTDMAFR, /**< Any variant of TDMA Fullrate encoded data (TIA/EIA-136-420) */ + OMX_AUDIO_CodingTDMAEFR, /**< Any variant of TDMA Enhanced Fullrate encoded data (TIA/EIA-136-410) */ + OMX_AUDIO_CodingQCELP8, /**< Any variant of QCELP 8kbps encoded data */ + OMX_AUDIO_CodingQCELP13, /**< Any variant of QCELP 13kbps encoded data */ + OMX_AUDIO_CodingEVRC, /**< Any variant of EVRC encoded data */ + OMX_AUDIO_CodingSMV, /**< Any variant of SMV encoded data */ + OMX_AUDIO_CodingG711, /**< Any variant of G.711 encoded data */ + OMX_AUDIO_CodingG723, /**< Any variant of G.723 dot 1 encoded data */ + OMX_AUDIO_CodingG726, /**< Any variant of G.726 encoded data */ + OMX_AUDIO_CodingG729, /**< Any variant of G.729 encoded data */ + OMX_AUDIO_CodingAAC, /**< Any variant of AAC encoded data */ + OMX_AUDIO_CodingMP3, /**< Any variant of MP3 encoded data */ + OMX_AUDIO_CodingSBC, /**< Any variant of SBC encoded data */ + OMX_AUDIO_CodingVORBIS, /**< Any variant of VORBIS encoded data */ + OMX_AUDIO_CodingWMA, /**< Any variant of WMA encoded data */ + OMX_AUDIO_CodingRA, /**< Any variant of RA encoded data */ + OMX_AUDIO_CodingMIDI, /**< Any variant of MIDI encoded data */ + OMX_AUDIO_CodingAC3, /**< Any variant of AC3 encoded data */ + OMX_AUDIO_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_CodingMax = 0x7FFFFFFF +} OMX_AUDIO_CODINGTYPE; + + +/** The PortDefinition structure is used to define all of the parameters + * necessary for the compliant component to setup an input or an output audio + * path. If additional information is needed to define the parameters of the + * port (such as frequency), additional structures must be sent such as the + * OMX_AUDIO_PARAM_PCMMODETYPE structure to supply the extra parameters for the port. + */ +typedef struct OMX_AUDIO_PORTDEFINITIONTYPE { + OMX_STRING cMIMEType; /**< MIME type of data for the port */ + OMX_NATIVE_DEVICETYPE pNativeRender; /** < platform specific reference + for an output device, + otherwise this field is 0 */ + OMX_BOOL bFlagErrorConcealment; /**< Turns on error concealment if it is + supported by the OMX component */ + OMX_AUDIO_CODINGTYPE eEncoding; /**< Type of data expected for this + port (e.g. PCM, AMR, MP3, etc) */ +} OMX_AUDIO_PORTDEFINITIONTYPE; + + +/** Port format parameter. This structure is used to enumerate + * the various data input/output format supported by the port. + */ +typedef struct OMX_AUDIO_PARAM_PORTFORMATTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Indicates which port to set */ + OMX_U32 nIndex; /**< Indicates the enumeration index for the format from 0x0 to N-1 */ + OMX_AUDIO_CODINGTYPE eEncoding; /**< Type of data expected for this port (e.g. PCM, AMR, MP3, etc) */ +} OMX_AUDIO_PARAM_PORTFORMATTYPE; + + +/** PCM mode type */ +typedef enum OMX_AUDIO_PCMMODETYPE { + OMX_AUDIO_PCMModeLinear = 0, /**< Linear PCM encoded data */ + OMX_AUDIO_PCMModeALaw, /**< A law PCM encoded data (G.711) */ + OMX_AUDIO_PCMModeMULaw, /**< Mu law PCM encoded data (G.711) */ + OMX_AUDIO_PCMModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_PCMModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_PCMModeMax = 0x7FFFFFFF +} OMX_AUDIO_PCMMODETYPE; + + +typedef enum OMX_AUDIO_CHANNELTYPE { + OMX_AUDIO_ChannelNone = 0x0, /**< Unused or empty */ + OMX_AUDIO_ChannelLF = 0x1, /**< Left front */ + OMX_AUDIO_ChannelRF = 0x2, /**< Right front */ + OMX_AUDIO_ChannelCF = 0x3, /**< Center front */ + OMX_AUDIO_ChannelLS = 0x4, /**< Left surround */ + OMX_AUDIO_ChannelRS = 0x5, /**< Right surround */ + OMX_AUDIO_ChannelLFE = 0x6, /**< Low frequency effects */ + OMX_AUDIO_ChannelCS = 0x7, /**< Back surround */ + OMX_AUDIO_ChannelLR = 0x8, /**< Left rear. */ + OMX_AUDIO_ChannelRR = 0x9, /**< Right rear. */ + OMX_AUDIO_ChannelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_ChannelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_ChannelMax = 0x7FFFFFFF +} OMX_AUDIO_CHANNELTYPE; + +#define OMX_AUDIO_MAXCHANNELS 16 /**< maximum number distinct audio channels that a buffer may contain */ +#define OMX_MIN_PCMPAYLOAD_MSEC 5 /**< Minimum audio buffer payload size for uncompressed (PCM) audio */ + +/** PCM format description */ +typedef struct OMX_AUDIO_PARAM_PCMMODETYPE { + OMX_U32 nSize; /**< Size of this structure, in Bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels (e.g. 2 for stereo) */ + OMX_NUMERICALDATATYPE eNumData; /**< indicates PCM data as signed or unsigned */ + OMX_ENDIANTYPE eEndian; /**< indicates PCM data as little or big endian */ + OMX_BOOL bInterleaved; /**< True for normal interleaved data; false for + non-interleaved data (e.g. block data) */ + OMX_U32 nBitPerSample; /**< Bit per sample */ + OMX_U32 nSamplingRate; /**< Sampling rate of the source data. Use 0 for + variable or unknown sampling rate. */ + OMX_AUDIO_PCMMODETYPE ePCMMode; /**< PCM mode enumeration */ + OMX_AUDIO_CHANNELTYPE eChannelMapping[OMX_AUDIO_MAXCHANNELS]; /**< Slot i contains channel defined by eChannelMap[i] */ + +} OMX_AUDIO_PARAM_PCMMODETYPE; + + +/** Audio channel mode. This is used by both AAC and MP3, although the names are more appropriate + * for the MP3. For example, JointStereo for MP3 is CouplingChannels for AAC. + */ +typedef enum OMX_AUDIO_CHANNELMODETYPE { + OMX_AUDIO_ChannelModeStereo = 0, /**< 2 channels, the bitrate allocation between those + two channels changes accordingly to each channel information */ + OMX_AUDIO_ChannelModeJointStereo, /**< mode that takes advantage of what is common between + 2 channels for higher compression gain */ + OMX_AUDIO_ChannelModeDual, /**< 2 mono-channels, each channel is encoded with half + the bitrate of the overall bitrate */ + OMX_AUDIO_ChannelModeMono, /**< Mono channel mode */ + OMX_AUDIO_ChannelModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_ChannelModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_ChannelModeMax = 0x7FFFFFFF +} OMX_AUDIO_CHANNELMODETYPE; + + +typedef enum OMX_AUDIO_MP3STREAMFORMATTYPE { + OMX_AUDIO_MP3StreamFormatMP1Layer3 = 0, /**< MP3 Audio MPEG 1 Layer 3 Stream format */ + OMX_AUDIO_MP3StreamFormatMP2Layer3, /**< MP3 Audio MPEG 2 Layer 3 Stream format */ + OMX_AUDIO_MP3StreamFormatMP2_5Layer3, /**< MP3 Audio MPEG2.5 Layer 3 Stream format */ + OMX_AUDIO_MP3StreamFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_MP3StreamFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_MP3StreamFormatMax = 0x7FFFFFFF +} OMX_AUDIO_MP3STREAMFORMATTYPE; + +/** MP3 params */ +typedef struct OMX_AUDIO_PARAM_MP3TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels */ + OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable + rate or unknown bit rates */ + OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for + variable or unknown sampling rate. */ + OMX_U32 nAudioBandWidth; /**< Audio band width (in Hz) to which an encoder should + limit the audio signal. Use 0 to let encoder decide */ + OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */ + OMX_AUDIO_MP3STREAMFORMATTYPE eFormat; /**< MP3 stream format */ +} OMX_AUDIO_PARAM_MP3TYPE; + + +typedef enum OMX_AUDIO_AACSTREAMFORMATTYPE { + OMX_AUDIO_AACStreamFormatMP2ADTS = 0, /**< AAC Audio Data Transport Stream 2 format */ + OMX_AUDIO_AACStreamFormatMP4ADTS, /**< AAC Audio Data Transport Stream 4 format */ + OMX_AUDIO_AACStreamFormatMP4LOAS, /**< AAC Low Overhead Audio Stream format */ + OMX_AUDIO_AACStreamFormatMP4LATM, /**< AAC Low overhead Audio Transport Multiplex */ + OMX_AUDIO_AACStreamFormatADIF, /**< AAC Audio Data Interchange Format */ + OMX_AUDIO_AACStreamFormatMP4FF, /**< AAC inside MPEG-4/ISO File Format */ + OMX_AUDIO_AACStreamFormatRAW, /**< AAC Raw Format */ + OMX_AUDIO_AACStreamFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_AACStreamFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_AACStreamFormatMax = 0x7FFFFFFF +} OMX_AUDIO_AACSTREAMFORMATTYPE; + + +/** AAC mode type. Note that the term profile is used with the MPEG-2 + * standard and the term object type and profile is used with MPEG-4 */ +typedef enum OMX_AUDIO_AACPROFILETYPE{ + OMX_AUDIO_AACObjectNull = 0, /**< Null, not used */ + OMX_AUDIO_AACObjectMain = 1, /**< AAC Main object */ + OMX_AUDIO_AACObjectLC, /**< AAC Low Complexity object (AAC profile) */ + OMX_AUDIO_AACObjectSSR, /**< AAC Scalable Sample Rate object */ + OMX_AUDIO_AACObjectLTP, /**< AAC Long Term Prediction object */ + OMX_AUDIO_AACObjectHE, /**< AAC High Efficiency (object type SBR, HE-AAC profile) */ + OMX_AUDIO_AACObjectScalable, /**< AAC Scalable object */ + OMX_AUDIO_AACObjectERLC = 17, /**< ER AAC Low Complexity object (Error Resilient AAC-LC) */ + OMX_AUDIO_AACObjectLD = 23, /**< AAC Low Delay object (Error Resilient) */ + OMX_AUDIO_AACObjectHE_PS = 29, /**< AAC High Efficiency with Parametric Stereo coding (HE-AAC v2, object type PS) */ + OMX_AUDIO_AACObjectKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_AACObjectVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_AACObjectMax = 0x7FFFFFFF +} OMX_AUDIO_AACPROFILETYPE; + + +/** AAC tool usage (for nAACtools in OMX_AUDIO_PARAM_AACPROFILETYPE). + * Required for encoder configuration and optional as decoder info output. + * For MP3, OMX_AUDIO_CHANNELMODETYPE is sufficient. */ +#define OMX_AUDIO_AACToolNone 0x00000000 /**< no AAC tools allowed (encoder config) or active (decoder info output) */ +#define OMX_AUDIO_AACToolMS 0x00000001 /**< MS: Mid/side joint coding tool allowed or active */ +#define OMX_AUDIO_AACToolIS 0x00000002 /**< IS: Intensity stereo tool allowed or active */ +#define OMX_AUDIO_AACToolTNS 0x00000004 /**< TNS: Temporal Noise Shaping tool allowed or active */ +#define OMX_AUDIO_AACToolPNS 0x00000008 /**< PNS: MPEG-4 Perceptual Noise substitution tool allowed or active */ +#define OMX_AUDIO_AACToolLTP 0x00000010 /**< LTP: MPEG-4 Long Term Prediction tool allowed or active */ +#define OMX_AUDIO_AACToolAll 0x7FFFFFFF /**< all AAC tools allowed or active (*/ + +/** MPEG-4 AAC error resilience (ER) tool usage (for nAACERtools in OMX_AUDIO_PARAM_AACPROFILETYPE). + * Required for ER encoder configuration and optional as decoder info output */ +#define OMX_AUDIO_AACERNone 0x00000000 /**< no AAC ER tools allowed/used */ +#define OMX_AUDIO_AACERVCB11 0x00000001 /**< VCB11: Virtual Code Books for AAC section data */ +#define OMX_AUDIO_AACERRVLC 0x00000002 /**< RVLC: Reversible Variable Length Coding */ +#define OMX_AUDIO_AACERHCR 0x00000004 /**< HCR: Huffman Codeword Reordering */ +#define OMX_AUDIO_AACERAll 0x7FFFFFFF /**< all AAC ER tools allowed/used */ + + +/** AAC params */ +typedef struct OMX_AUDIO_PARAM_AACPROFILETYPE { + OMX_U32 nSize; /**< Size of this structure, in Bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels */ + OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for + variable or unknown sampling rate. */ + OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable + rate or unknown bit rates */ + OMX_U32 nAudioBandWidth; /**< Audio band width (in Hz) to which an encoder should + limit the audio signal. Use 0 to let encoder decide */ + OMX_U32 nFrameLength; /**< Frame length (in audio samples per channel) of the codec. + Can be 1024 or 960 (AAC-LC), 2048 (HE-AAC), 480 or 512 (AAC-LD). + Use 0 to let encoder decide */ + OMX_U32 nAACtools; /**< AAC tool usage */ + OMX_U32 nAACERtools; /**< MPEG-4 AAC error resilience tool usage */ + OMX_AUDIO_AACPROFILETYPE eAACProfile; /**< AAC profile enumeration */ + OMX_AUDIO_AACSTREAMFORMATTYPE eAACStreamFormat; /**< AAC stream format enumeration */ + OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */ +} OMX_AUDIO_PARAM_AACPROFILETYPE; + + +/** VORBIS params */ +typedef struct OMX_AUDIO_PARAM_VORBISTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels */ + OMX_U32 nBitRate; /**< Bit rate of the encoded data data. Use 0 for variable + rate or unknown bit rates. Encoding is set to the + bitrate closest to specified value (in bps) */ + OMX_U32 nMinBitRate; /**< Sets minimum bitrate (in bps). */ + OMX_U32 nMaxBitRate; /**< Sets maximum bitrate (in bps). */ + + OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for + variable or unknown sampling rate. */ + OMX_U32 nAudioBandWidth; /**< Audio band width (in Hz) to which an encoder should + limit the audio signal. Use 0 to let encoder decide */ + OMX_S32 nQuality; /**< Sets encoding quality to n, between -1 (low) and 10 (high). + In the default mode of operation, teh quality level is 3. + Normal quality range is 0 - 10. */ + OMX_BOOL bManaged; /**< Set bitrate management mode. This turns off the + normal VBR encoding, but allows hard or soft bitrate + constraints to be enforced by the encoder. This mode can + be slower, and may also be lower quality. It is + primarily useful for streaming. */ + OMX_BOOL bDownmix; /**< Downmix input from stereo to mono (has no effect on + non-stereo streams). Useful for lower-bitrate encoding. */ +} OMX_AUDIO_PARAM_VORBISTYPE; + + +/** WMA Version */ +typedef enum OMX_AUDIO_WMAFORMATTYPE { + OMX_AUDIO_WMAFormatUnused = 0, /**< format unused or unknown */ + OMX_AUDIO_WMAFormat7, /**< Windows Media Audio format 7 */ + OMX_AUDIO_WMAFormat8, /**< Windows Media Audio format 8 */ + OMX_AUDIO_WMAFormat9, /**< Windows Media Audio format 9 */ + OMX_AUDIO_WMAFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_WMAFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_WMAFormatMax = 0x7FFFFFFF +} OMX_AUDIO_WMAFORMATTYPE; + + +/** WMA Profile */ +typedef enum OMX_AUDIO_WMAPROFILETYPE { + OMX_AUDIO_WMAProfileUnused = 0, /**< profile unused or unknown */ + OMX_AUDIO_WMAProfileL1, /**< Windows Media audio version 9 profile L1 */ + OMX_AUDIO_WMAProfileL2, /**< Windows Media audio version 9 profile L2 */ + OMX_AUDIO_WMAProfileL3, /**< Windows Media audio version 9 profile L3 */ + OMX_AUDIO_WMAProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_WMAProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_WMAProfileMax = 0x7FFFFFFF +} OMX_AUDIO_WMAPROFILETYPE; + + +/** WMA params */ +typedef struct OMX_AUDIO_PARAM_WMATYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U16 nChannels; /**< Number of channels */ + OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable + rate or unknown bit rates */ + OMX_AUDIO_WMAFORMATTYPE eFormat; /**< Version of WMA stream / data */ + OMX_AUDIO_WMAPROFILETYPE eProfile; /**< Profile of WMA stream / data */ + OMX_U32 nSamplingRate; /**< Sampling rate of the source data */ + OMX_U16 nBlockAlign; /**< is the block alignment, or block size, in bytes of the audio codec */ + OMX_U16 nEncodeOptions; /**< WMA Type-specific data */ + OMX_U32 nSuperBlockAlign; /**< WMA Type-specific data */ +} OMX_AUDIO_PARAM_WMATYPE; + +/** + * RealAudio format + */ +typedef enum OMX_AUDIO_RAFORMATTYPE { + OMX_AUDIO_RAFormatUnused = 0, /**< Format unused or unknown */ + OMX_AUDIO_RA8, /**< RealAudio 8 codec */ + OMX_AUDIO_RA9, /**< RealAudio 9 codec */ + OMX_AUDIO_RA10_AAC, /**< MPEG-4 AAC codec for bitrates of more than 128kbps */ + OMX_AUDIO_RA10_CODEC, /**< RealAudio codec for bitrates less than 128 kbps */ + OMX_AUDIO_RA10_LOSSLESS, /**< RealAudio Lossless */ + OMX_AUDIO_RA10_MULTICHANNEL, /**< RealAudio Multichannel */ + OMX_AUDIO_RA10_VOICE, /**< RealAudio Voice for bitrates below 15 kbps */ + OMX_AUDIO_RAFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_RAFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_RAFormatMax = 0x7FFFFFFF +} OMX_AUDIO_RAFORMATTYPE; + +/** RA (Real Audio) params */ +typedef struct OMX_AUDIO_PARAM_RATYPE { + OMX_U32 nSize; /**< Size of this structure, in Bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels */ + OMX_U32 nSamplingRate; /**< is the sampling rate of the source data */ + OMX_U32 nBitsPerFrame; /**< is the value for bits per frame */ + OMX_U32 nSamplePerFrame; /**< is the value for samples per frame */ + OMX_U32 nCouplingQuantBits; /**< is the number of coupling quantization bits in the stream */ + OMX_U32 nCouplingStartRegion; /**< is the coupling start region in the stream */ + OMX_U32 nNumRegions; /**< is the number of regions value */ + OMX_AUDIO_RAFORMATTYPE eFormat; /**< is the RealAudio audio format */ +} OMX_AUDIO_PARAM_RATYPE; + + +/** SBC Allocation Method Type */ +typedef enum OMX_AUDIO_SBCALLOCMETHODTYPE { + OMX_AUDIO_SBCAllocMethodLoudness, /**< Loudness allocation method */ + OMX_AUDIO_SBCAllocMethodSNR, /**< SNR allocation method */ + OMX_AUDIO_SBCAllocMethodKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_SBCAllocMethodVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_SBCAllocMethodMax = 0x7FFFFFFF +} OMX_AUDIO_SBCALLOCMETHODTYPE; + + +/** SBC params */ +typedef struct OMX_AUDIO_PARAM_SBCTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels */ + OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable + rate or unknown bit rates */ + OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for + variable or unknown sampling rate. */ + OMX_U32 nBlocks; /**< Number of blocks */ + OMX_U32 nSubbands; /**< Number of subbands */ + OMX_U32 nBitPool; /**< Bitpool value */ + OMX_BOOL bEnableBitrate; /**< Use bitrate value instead of bitpool */ + OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */ + OMX_AUDIO_SBCALLOCMETHODTYPE eSBCAllocType; /**< SBC Allocation method type */ +} OMX_AUDIO_PARAM_SBCTYPE; + + +/** ADPCM stream format parameters */ +typedef struct OMX_AUDIO_PARAM_ADPCMTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_U32 nBitsPerSample; /**< Number of bits in each sample */ + OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for + variable or unknown sampling rate. */ +} OMX_AUDIO_PARAM_ADPCMTYPE; + + +/** G723 rate */ +typedef enum OMX_AUDIO_G723RATE { + OMX_AUDIO_G723ModeUnused = 0, /**< AMRNB Mode unused / unknown */ + OMX_AUDIO_G723ModeLow, /**< 5300 bps */ + OMX_AUDIO_G723ModeHigh, /**< 6300 bps */ + OMX_AUDIO_G723ModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_G723ModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_G723ModeMax = 0x7FFFFFFF +} OMX_AUDIO_G723RATE; + + +/** G723 - Sample rate must be 8 KHz */ +typedef struct OMX_AUDIO_PARAM_G723TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_AUDIO_G723RATE eBitRate; /**< todo: Should this be moved to a config? */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ + OMX_BOOL bPostFilter; /**< Enable Post Filter */ +} OMX_AUDIO_PARAM_G723TYPE; + + +/** ITU G726 (ADPCM) rate */ +typedef enum OMX_AUDIO_G726MODE { + OMX_AUDIO_G726ModeUnused = 0, /**< G726 Mode unused / unknown */ + OMX_AUDIO_G726Mode16, /**< 16 kbps */ + OMX_AUDIO_G726Mode24, /**< 24 kbps */ + OMX_AUDIO_G726Mode32, /**< 32 kbps, most common rate, also G721 */ + OMX_AUDIO_G726Mode40, /**< 40 kbps */ + OMX_AUDIO_G726ModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_G726ModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_G726ModeMax = 0x7FFFFFFF +} OMX_AUDIO_G726MODE; + + +/** G.726 stream format parameters - must be at 8KHz */ +typedef struct OMX_AUDIO_PARAM_G726TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_AUDIO_G726MODE eG726Mode; +} OMX_AUDIO_PARAM_G726TYPE; + + +/** G729 coder type */ +typedef enum OMX_AUDIO_G729TYPE { + OMX_AUDIO_G729 = 0, /**< ITU G.729 encoded data */ + OMX_AUDIO_G729A, /**< ITU G.729 annex A encoded data */ + OMX_AUDIO_G729B, /**< ITU G.729 with annex B encoded data */ + OMX_AUDIO_G729AB, /**< ITU G.729 annexes A and B encoded data */ + OMX_AUDIO_G729KhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_G729VendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_G729Max = 0x7FFFFFFF +} OMX_AUDIO_G729TYPE; + + +/** G729 stream format parameters - fixed 6KHz sample rate */ +typedef struct OMX_AUDIO_PARAM_G729TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_AUDIO_G729TYPE eBitType; +} OMX_AUDIO_PARAM_G729TYPE; + + +/** AMR Frame format */ +typedef enum OMX_AUDIO_AMRFRAMEFORMATTYPE { + OMX_AUDIO_AMRFrameFormatConformance = 0, /**< Frame Format is AMR Conformance + (Standard) Format */ + OMX_AUDIO_AMRFrameFormatIF1, /**< Frame Format is AMR Interface + Format 1 */ + OMX_AUDIO_AMRFrameFormatIF2, /**< Frame Format is AMR Interface + Format 2*/ + OMX_AUDIO_AMRFrameFormatFSF, /**< Frame Format is AMR File Storage + Format */ + OMX_AUDIO_AMRFrameFormatRTPPayload, /**< Frame Format is AMR Real-Time + Transport Protocol Payload Format */ + OMX_AUDIO_AMRFrameFormatITU, /**< Frame Format is ITU Format (added at Motorola request) */ + OMX_AUDIO_AMRFrameFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_AMRFrameFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_AMRFrameFormatMax = 0x7FFFFFFF +} OMX_AUDIO_AMRFRAMEFORMATTYPE; + + +/** AMR band mode */ +typedef enum OMX_AUDIO_AMRBANDMODETYPE { + OMX_AUDIO_AMRBandModeUnused = 0, /**< AMRNB Mode unused / unknown */ + OMX_AUDIO_AMRBandModeNB0, /**< AMRNB Mode 0 = 4750 bps */ + OMX_AUDIO_AMRBandModeNB1, /**< AMRNB Mode 1 = 5150 bps */ + OMX_AUDIO_AMRBandModeNB2, /**< AMRNB Mode 2 = 5900 bps */ + OMX_AUDIO_AMRBandModeNB3, /**< AMRNB Mode 3 = 6700 bps */ + OMX_AUDIO_AMRBandModeNB4, /**< AMRNB Mode 4 = 7400 bps */ + OMX_AUDIO_AMRBandModeNB5, /**< AMRNB Mode 5 = 7950 bps */ + OMX_AUDIO_AMRBandModeNB6, /**< AMRNB Mode 6 = 10200 bps */ + OMX_AUDIO_AMRBandModeNB7, /**< AMRNB Mode 7 = 12200 bps */ + OMX_AUDIO_AMRBandModeWB0, /**< AMRWB Mode 0 = 6600 bps */ + OMX_AUDIO_AMRBandModeWB1, /**< AMRWB Mode 1 = 8850 bps */ + OMX_AUDIO_AMRBandModeWB2, /**< AMRWB Mode 2 = 12650 bps */ + OMX_AUDIO_AMRBandModeWB3, /**< AMRWB Mode 3 = 14250 bps */ + OMX_AUDIO_AMRBandModeWB4, /**< AMRWB Mode 4 = 15850 bps */ + OMX_AUDIO_AMRBandModeWB5, /**< AMRWB Mode 5 = 18250 bps */ + OMX_AUDIO_AMRBandModeWB6, /**< AMRWB Mode 6 = 19850 bps */ + OMX_AUDIO_AMRBandModeWB7, /**< AMRWB Mode 7 = 23050 bps */ + OMX_AUDIO_AMRBandModeWB8, /**< AMRWB Mode 8 = 23850 bps */ + OMX_AUDIO_AMRBandModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_AMRBandModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_AMRBandModeMax = 0x7FFFFFFF +} OMX_AUDIO_AMRBANDMODETYPE; + + +/** AMR Discontinuous Transmission mode */ +typedef enum OMX_AUDIO_AMRDTXMODETYPE { + OMX_AUDIO_AMRDTXModeOff = 0, /**< AMR Discontinuous Transmission Mode is disabled */ + OMX_AUDIO_AMRDTXModeOnVAD1, /**< AMR Discontinuous Transmission Mode using + Voice Activity Detector 1 (VAD1) is enabled */ + OMX_AUDIO_AMRDTXModeOnVAD2, /**< AMR Discontinuous Transmission Mode using + Voice Activity Detector 2 (VAD2) is enabled */ + OMX_AUDIO_AMRDTXModeOnAuto, /**< The codec will automatically select between + Off, VAD1 or VAD2 modes */ + + OMX_AUDIO_AMRDTXasEFR, /**< DTX as EFR instead of AMR standard (3GPP 26.101, frame type =8,9,10) */ + + OMX_AUDIO_AMRDTXModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_AMRDTXModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_AMRDTXModeMax = 0x7FFFFFFF +} OMX_AUDIO_AMRDTXMODETYPE; + + +/** AMR params */ +typedef struct OMX_AUDIO_PARAM_AMRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels */ + OMX_U32 nBitRate; /**< Bit rate read only field */ + OMX_AUDIO_AMRBANDMODETYPE eAMRBandMode; /**< AMR Band Mode enumeration */ + OMX_AUDIO_AMRDTXMODETYPE eAMRDTXMode; /**< AMR DTX Mode enumeration */ + OMX_AUDIO_AMRFRAMEFORMATTYPE eAMRFrameFormat; /**< AMR frame format enumeration */ +} OMX_AUDIO_PARAM_AMRTYPE; + + +/** GSM_FR (ETSI 06.10, 3GPP 46.010) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_GSMFRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_GSMFRTYPE; + + +/** GSM-HR (ETSI 06.20, 3GPP 46.020) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_GSMHRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_GSMHRTYPE; + + +/** GSM-EFR (ETSI 06.60, 3GPP 46.060) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_GSMEFRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_GSMEFRTYPE; + + +/** TDMA FR (TIA/EIA-136-420, VSELP 7.95kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_TDMAFRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_TDMAFRTYPE; + + +/** TDMA EFR (TIA/EIA-136-410, ACELP 7.4kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_TDMAEFRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_TDMAEFRTYPE; + + +/** PDC FR ( RCR-27, VSELP 6.7kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_PDCFRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_PDCFRTYPE; + + +/** PDC EFR ( RCR-27, ACELP 6.7kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_PDCEFRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_PDCEFRTYPE; + +/** PDC HR ( RCR-27, PSI-CELP 3.45kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_PDCHRTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ + OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ +} OMX_AUDIO_PARAM_PDCHRTYPE; + + +/** CDMA Rate types */ +typedef enum OMX_AUDIO_CDMARATETYPE { + OMX_AUDIO_CDMARateBlank = 0, /**< CDMA encoded frame is blank */ + OMX_AUDIO_CDMARateFull, /**< CDMA encoded frame in full rate */ + OMX_AUDIO_CDMARateHalf, /**< CDMA encoded frame in half rate */ + OMX_AUDIO_CDMARateQuarter, /**< CDMA encoded frame in quarter rate */ + OMX_AUDIO_CDMARateEighth, /**< CDMA encoded frame in eighth rate (DTX)*/ + OMX_AUDIO_CDMARateErasure, /**< CDMA erasure frame */ + OMX_AUDIO_CDMARateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_CDMARateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_CDMARateMax = 0x7FFFFFFF +} OMX_AUDIO_CDMARATETYPE; + + +/** QCELP8 (TIA/EIA-96, up to 8kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_QCELP8TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable + rate or unknown bit rates */ + OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */ + OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 */ + OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 */ +} OMX_AUDIO_PARAM_QCELP8TYPE; + + +/** QCELP13 ( CDMA, EIA/TIA-733, 13.3kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_QCELP13TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */ + OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 */ + OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 */ +} OMX_AUDIO_PARAM_QCELP13TYPE; + + +/** EVRC ( CDMA, EIA/TIA-127, RCELP up to 8.55kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_EVRCTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_AUDIO_CDMARATETYPE eCDMARate; /**< actual Frame rate */ + OMX_BOOL bRATE_REDUCon; /**< RATE_REDUCtion is requested for this frame */ + OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 */ + OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 */ + OMX_BOOL bHiPassFilter; /**< Enable encoder's High Pass Filter */ + OMX_BOOL bNoiseSuppressor; /**< Enable encoder's noise suppressor pre-processing */ + OMX_BOOL bPostFilter; /**< Enable decoder's post Filter */ +} OMX_AUDIO_PARAM_EVRCTYPE; + + +/** SMV ( up to 8.55kbps coder) stream format parameters */ +typedef struct OMX_AUDIO_PARAM_SMVTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannels; /**< Number of channels in the data stream (not + necessarily the same as the number of channels + to be rendered. */ + OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */ + OMX_BOOL bRATE_REDUCon; /**< RATE_REDUCtion is requested for this frame */ + OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 ??*/ + OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 ??*/ + OMX_BOOL bHiPassFilter; /**< Enable encoder's High Pass Filter ??*/ + OMX_BOOL bNoiseSuppressor; /**< Enable encoder's noise suppressor pre-processing */ + OMX_BOOL bPostFilter; /**< Enable decoder's post Filter ??*/ +} OMX_AUDIO_PARAM_SMVTYPE; + + +/** MIDI Format + * @ingroup midi + */ +typedef enum OMX_AUDIO_MIDIFORMATTYPE +{ + OMX_AUDIO_MIDIFormatUnknown = 0, /**< MIDI Format unknown or don't care */ + OMX_AUDIO_MIDIFormatSMF0, /**< Standard MIDI File Type 0 */ + OMX_AUDIO_MIDIFormatSMF1, /**< Standard MIDI File Type 1 */ + OMX_AUDIO_MIDIFormatSMF2, /**< Standard MIDI File Type 2 */ + OMX_AUDIO_MIDIFormatSPMIDI, /**< SP-MIDI */ + OMX_AUDIO_MIDIFormatXMF0, /**< eXtensible Music Format type 0 */ + OMX_AUDIO_MIDIFormatXMF1, /**< eXtensible Music Format type 1 */ + OMX_AUDIO_MIDIFormatMobileXMF, /**< Mobile XMF (eXtensible Music Format type 2) */ + OMX_AUDIO_MIDIFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_MIDIFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_MIDIFormatMax = 0x7FFFFFFF +} OMX_AUDIO_MIDIFORMATTYPE; + + +/** MIDI params + * @ingroup midi + */ +typedef struct OMX_AUDIO_PARAM_MIDITYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nFileSize; /**< size of the MIDI file in bytes, where the entire + MIDI file passed in, otherwise if 0x0, the MIDI data + is merged and streamed (instead of passed as an + entire MIDI file) */ + OMX_BU32 sMaxPolyphony; /**< Specifies the maximum simultaneous polyphonic + voices. A value of zero indicates that the default + polyphony of the device is used */ + OMX_BOOL bLoadDefaultSound; /**< Whether to load default sound + bank at initialization */ + OMX_AUDIO_MIDIFORMATTYPE eMidiFormat; /**< Version of the MIDI file */ +} OMX_AUDIO_PARAM_MIDITYPE; + + +/** Type of the MIDI sound bank + * @ingroup midi + */ +typedef enum OMX_AUDIO_MIDISOUNDBANKTYPE { + OMX_AUDIO_MIDISoundBankUnused = 0, /**< unused/unknown soundbank type */ + OMX_AUDIO_MIDISoundBankDLS1, /**< DLS version 1 */ + OMX_AUDIO_MIDISoundBankDLS2, /**< DLS version 2 */ + OMX_AUDIO_MIDISoundBankMobileDLSBase, /**< Mobile DLS, using the base functionality */ + OMX_AUDIO_MIDISoundBankMobileDLSPlusOptions, /**< Mobile DLS, using the specification-defined optional feature set */ + OMX_AUDIO_MIDISoundBankKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_MIDISoundBankVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_MIDISoundBankMax = 0x7FFFFFFF +} OMX_AUDIO_MIDISOUNDBANKTYPE; + + +/** Bank Layout describes how bank MSB & LSB are used in the DLS instrument definitions sound bank + * @ingroup midi + */ +typedef enum OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE { + OMX_AUDIO_MIDISoundBankLayoutUnused = 0, /**< unused/unknown soundbank type */ + OMX_AUDIO_MIDISoundBankLayoutGM, /**< GS layout (based on bank MSB 0x00) */ + OMX_AUDIO_MIDISoundBankLayoutGM2, /**< General MIDI 2 layout (using MSB 0x78/0x79, LSB 0x00) */ + OMX_AUDIO_MIDISoundBankLayoutUser, /**< Does not conform to any bank numbering standards */ + OMX_AUDIO_MIDISoundBankLayoutKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_MIDISoundBankLayoutVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_MIDISoundBankLayoutMax = 0x7FFFFFFF +} OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE; + + +/** MIDI params to load/unload user soundbank + * @ingroup midi + */ +typedef struct OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nDLSIndex; /**< DLS file index to be loaded */ + OMX_U32 nDLSSize; /**< Size in bytes */ + OMX_PTR pDLSData; /**< Pointer to DLS file data */ + OMX_AUDIO_MIDISOUNDBANKTYPE eMidiSoundBank; /**< Midi sound bank type enumeration */ + OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE eMidiSoundBankLayout; /**< Midi sound bank layout enumeration */ +} OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE; + + +/** Structure for Live MIDI events and MIP messages. + * (MIP = Maximum Instantaneous Polyphony; part of the SP-MIDI standard.) + * @ingroup midi + */ +typedef struct OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port that this structure applies to */ + OMX_U32 nMidiEventSize; /**< Size of immediate MIDI events or MIP message in bytes */ + OMX_U8 nMidiEvents[1]; /**< MIDI event array to be rendered immediately, or an + array for the MIP message buffer, where the size is + indicated by nMidiEventSize */ +} OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE; + + +/** MIDI sound bank/ program pair in a given channel + * @ingroup midi + */ +typedef struct OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port that this structure applies to */ + OMX_U32 nChannel; /**< Valid channel values range from 1 to 16 */ + OMX_U16 nIDProgram; /**< Valid program ID range is 1 to 128 */ + OMX_U16 nIDSoundBank; /**< Sound bank ID */ + OMX_U32 nUserSoundBankIndex;/**< User soundbank index, easier to access soundbanks + by index if multiple banks are present */ +} OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE; + + +/** MIDI control + * @ingroup midi + */ +typedef struct OMX_AUDIO_CONFIG_MIDICONTROLTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BS32 sPitchTransposition; /**< Pitch transposition in semitones, stored as Q22.10 + format based on JAVA MMAPI (JSR-135) requirement */ + OMX_BU32 sPlayBackRate; /**< Relative playback rate, stored as Q14.17 fixed-point + number based on JSR-135 requirement */ + OMX_BU32 sTempo ; /**< Tempo in beats per minute (BPM), stored as Q22.10 + fixed-point number based on JSR-135 requirement */ + OMX_U32 nMaxPolyphony; /**< Specifies the maximum simultaneous polyphonic + voices. A value of zero indicates that the default + polyphony of the device is used */ + OMX_U32 nNumRepeat; /**< Number of times to repeat playback */ + OMX_U32 nStopTime; /**< Time in milliseconds to indicate when playback + will stop automatically. Set to zero if not used */ + OMX_U16 nChannelMuteMask; /**< 16 bit mask for channel mute status */ + OMX_U16 nChannelSoloMask; /**< 16 bit mask for channel solo status */ + OMX_U32 nTrack0031MuteMask; /**< 32 bit mask for track mute status. Note: This is for tracks 0-31 */ + OMX_U32 nTrack3263MuteMask; /**< 32 bit mask for track mute status. Note: This is for tracks 32-63 */ + OMX_U32 nTrack0031SoloMask; /**< 32 bit mask for track solo status. Note: This is for tracks 0-31 */ + OMX_U32 nTrack3263SoloMask; /**< 32 bit mask for track solo status. Note: This is for tracks 32-63 */ + +} OMX_AUDIO_CONFIG_MIDICONTROLTYPE; + + +/** MIDI Playback States + * @ingroup midi + */ +typedef enum OMX_AUDIO_MIDIPLAYBACKSTATETYPE { + OMX_AUDIO_MIDIPlayBackStateUnknown = 0, /**< Unknown state or state does not map to + other defined states */ + OMX_AUDIO_MIDIPlayBackStateClosedEngaged, /**< No MIDI resource is currently open. + The MIDI engine is currently processing + MIDI events. */ + OMX_AUDIO_MIDIPlayBackStateParsing, /**< A MIDI resource is open and is being + primed. The MIDI engine is currently + processing MIDI events. */ + OMX_AUDIO_MIDIPlayBackStateOpenEngaged, /**< A MIDI resource is open and primed but + not playing. The MIDI engine is currently + processing MIDI events. The transition to + this state is only possible from the + OMX_AUDIO_MIDIPlayBackStatePlaying state, + when the 'playback head' reaches the end + of media data or the playback stops due + to stop time set.*/ + OMX_AUDIO_MIDIPlayBackStatePlaying, /**< A MIDI resource is open and currently + playing. The MIDI engine is currently + processing MIDI events.*/ + OMX_AUDIO_MIDIPlayBackStatePlayingPartially, /**< Best-effort playback due to SP-MIDI/DLS + resource constraints */ + OMX_AUDIO_MIDIPlayBackStatePlayingSilently, /**< Due to system resource constraints and + SP-MIDI content constraints, there is + no audible MIDI content during playback + currently. The situation may change if + resources are freed later.*/ + OMX_AUDIO_MIDIPlayBackStateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_MIDIPlayBackStateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_MIDIPlayBackStateMax = 0x7FFFFFFF +} OMX_AUDIO_MIDIPLAYBACKSTATETYPE; + + +/** MIDI status + * @ingroup midi + */ +typedef struct OMX_AUDIO_CONFIG_MIDISTATUSTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U16 nNumTracks; /**< Number of MIDI tracks in the file, read only field. + NOTE: May not return a meaningful value until the entire + file is parsed and buffered. */ + OMX_U32 nDuration; /**< The length of the currently open MIDI resource + in milliseconds. NOTE: May not return a meaningful value + until the entire file is parsed and buffered. */ + OMX_U32 nPosition; /**< Current Position of the MIDI resource being played + in milliseconds */ + OMX_BOOL bVibra; /**< Does Vibra track exist? NOTE: May not return a meaningful + value until the entire file is parsed and buffered. */ + OMX_U32 nNumMetaEvents; /**< Total number of MIDI Meta Events in the currently + open MIDI resource. NOTE: May not return a meaningful value + until the entire file is parsed and buffered. */ + OMX_U32 nNumActiveVoices; /**< Number of active voices in the currently playing + MIDI resource. NOTE: May not return a meaningful value until + the entire file is parsed and buffered. */ + OMX_AUDIO_MIDIPLAYBACKSTATETYPE eMIDIPlayBackState; /**< MIDI playback state enumeration, read only field */ +} OMX_AUDIO_CONFIG_MIDISTATUSTYPE; + + +/** MIDI Meta Event structure one per Meta Event. + * MIDI Meta Events are like audio metadata, except that they are interspersed + * with the MIDI content throughout the file and are not localized in the header. + * As such, it is necessary to retrieve information about these Meta Events from + * the engine, as it encounters these Meta Events within the MIDI content. + * For example, SMF files can have up to 14 types of MIDI Meta Events (copyright, + * author, default tempo, etc.) scattered throughout the file. + * @ingroup midi + */ +typedef struct OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE{ + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nIndex; /**< Index of Meta Event */ + OMX_U8 nMetaEventType; /**< Meta Event Type, 7bits (i.e. 0 - 127) */ + OMX_U32 nMetaEventSize; /**< size of the Meta Event in bytes */ + OMX_U32 nTrack; /**< track number for the meta event */ + OMX_U32 nPosition; /**< Position of the meta-event in milliseconds */ +} OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE; + + +/** MIDI Meta Event Data structure - one per Meta Event. + * @ingroup midi + */ +typedef struct OMX_AUDIO_CONFIG_MIDIMETAEVENTDATATYPE{ + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nIndex; /**< Index of Meta Event */ + OMX_U32 nMetaEventSize; /**< size of the Meta Event in bytes */ + OMX_U8 nData[1]; /**< array of one or more bytes of meta data + as indicated by the nMetaEventSize field */ +} OMX_AUDIO_CONFIG__MIDIMETAEVENTDATATYPE; + + +/** Audio Volume adjustment for a port */ +typedef struct OMX_AUDIO_CONFIG_VOLUMETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port index indicating which port to + set. Select the input port to set + just that port's volume. Select the + output port to adjust the master + volume. */ + OMX_BOOL bLinear; /**< Is the volume to be set in linear (0.100) + or logarithmic scale (mB) */ + OMX_BS32 sVolume; /**< Volume linear setting in the 0..100 range, OR + Volume logarithmic setting for this port. The values + for volume are in mB (millibels = 1/100 dB) relative + to a gain of 1 (e.g. the output is the same as the + input level). Values are in mB from nMax + (maximum volume) to nMin mB (typically negative). + Since the volume is "voltage" + and not a "power", it takes a setting of + -600 mB to decrease the volume by 1/2. If + a component cannot accurately set the + volume to the requested value, it must + set the volume to the closest value BELOW + the requested value. When getting the + volume setting, the current actual volume + must be returned. */ +} OMX_AUDIO_CONFIG_VOLUMETYPE; + + +/** Audio Volume adjustment for a channel */ +typedef struct OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port index indicating which port to + set. Select the input port to set + just that port's volume. Select the + output port to adjust the master + volume. */ + OMX_U32 nChannel; /**< channel to select from 0 to N-1, + using OMX_ALL to apply volume settings + to all channels */ + OMX_BOOL bLinear; /**< Is the volume to be set in linear (0.100) or + logarithmic scale (mB) */ + OMX_BS32 sVolume; /**< Volume linear setting in the 0..100 range, OR + Volume logarithmic setting for this port. + The values for volume are in mB + (millibels = 1/100 dB) relative to a gain + of 1 (e.g. the output is the same as the + input level). Values are in mB from nMax + (maximum volume) to nMin mB (typically negative). + Since the volume is "voltage" + and not a "power", it takes a setting of + -600 mB to decrease the volume by 1/2. If + a component cannot accurately set the + volume to the requested value, it must + set the volume to the closest value BELOW + the requested value. When getting the + volume setting, the current actual volume + must be returned. */ + OMX_BOOL bIsMIDI; /**< TRUE if nChannel refers to a MIDI channel, + FALSE otherwise */ +} OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE; + + +/** Audio balance setting */ +typedef struct OMX_AUDIO_CONFIG_BALANCETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port index indicating which port to + set. Select the input port to set + just that port's balance. Select the + output port to adjust the master + balance. */ + OMX_S32 nBalance; /**< balance setting for this port + (-100 to 100, where -100 indicates + all left, and no right */ +} OMX_AUDIO_CONFIG_BALANCETYPE; + + +/** Audio Port mute */ +typedef struct OMX_AUDIO_CONFIG_MUTETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port index indicating which port to + set. Select the input port to set + just that port's mute. Select the + output port to adjust the master + mute. */ + OMX_BOOL bMute; /**< Mute setting for this port */ +} OMX_AUDIO_CONFIG_MUTETYPE; + + +/** Audio Channel mute */ +typedef struct OMX_AUDIO_CONFIG_CHANNELMUTETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nChannel; /**< channel to select from 0 to N-1, + using OMX_ALL to apply mute settings + to all channels */ + OMX_BOOL bMute; /**< Mute setting for this channel */ + OMX_BOOL bIsMIDI; /**< TRUE if nChannel refers to a MIDI channel, + FALSE otherwise */ +} OMX_AUDIO_CONFIG_CHANNELMUTETYPE; + + + +/** Enable / Disable for loudness control, which boosts bass and to a + * smaller extent high end frequencies to compensate for hearing + * ability at the extreme ends of the audio spectrum + */ +typedef struct OMX_AUDIO_CONFIG_LOUDNESSTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bLoudness; /**< Enable/disable for loudness */ +} OMX_AUDIO_CONFIG_LOUDNESSTYPE; + + +/** Enable / Disable for bass, which controls low frequencies + */ +typedef struct OMX_AUDIO_CONFIG_BASSTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bEnable; /**< Enable/disable for bass control */ + OMX_S32 nBass; /**< bass setting for the port, as a + continuous value from -100 to 100 + (0 means no change in bass level)*/ +} OMX_AUDIO_CONFIG_BASSTYPE; + + +/** Enable / Disable for treble, which controls high frequencies tones + */ +typedef struct OMX_AUDIO_CONFIG_TREBLETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bEnable; /**< Enable/disable for treble control */ + OMX_S32 nTreble; /**< treble setting for the port, as a + continuous value from -100 to 100 + (0 means no change in treble level) */ +} OMX_AUDIO_CONFIG_TREBLETYPE; + + +/** An equalizer is typically used for two reasons: to compensate for an + * sub-optimal frequency response of a system to make it sound more natural + * or to create intentionally some unnatural coloring to the sound to create + * an effect. + * @ingroup effects + */ +typedef struct OMX_AUDIO_CONFIG_EQUALIZERTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bEnable; /**< Enable/disable for equalizer */ + OMX_BU32 sBandIndex; /**< Band number to be set. Upper Limit is + N-1, where N is the number of bands, lower limit is 0 */ + OMX_BU32 sCenterFreq; /**< Center frequecies in Hz. This is a + read only element and is used to determine + the lower, center and upper frequency of + this band. */ + OMX_BS32 sBandLevel; /**< band level in millibels */ +} OMX_AUDIO_CONFIG_EQUALIZERTYPE; + + +/** Stereo widening mode type + * @ingroup effects + */ +typedef enum OMX_AUDIO_STEREOWIDENINGTYPE { + OMX_AUDIO_StereoWideningHeadphones, /**< Stereo widening for loudspeakers */ + OMX_AUDIO_StereoWideningLoudspeakers, /**< Stereo widening for closely spaced loudspeakers */ + OMX_AUDIO_StereoWideningKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_StereoWideningVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_StereoWideningMax = 0x7FFFFFFF +} OMX_AUDIO_STEREOWIDENINGTYPE; + + +/** Control for stereo widening, which is a special 2-channel + * case of the audio virtualizer effect. For example, for 5.1-channel + * output, it translates to virtual surround sound. + * @ingroup effects + */ +typedef struct OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bEnable; /**< Enable/disable for stereo widening control */ + OMX_AUDIO_STEREOWIDENINGTYPE eWideningType; /**< Stereo widening algorithm type */ + OMX_U32 nStereoWidening; /**< stereo widening setting for the port, + as a continuous value from 0 to 100 */ +} OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE; + + +/** The chorus effect (or ``choralizer'') is any signal processor which makes + * one sound source (such as a voice) sound like many such sources singing + * (or playing) in unison. Since performance in unison is never exact, chorus + * effects simulate this by making independently modified copies of the input + * signal. Modifications may include (1) delay, (2) frequency shift, and + * (3) amplitude modulation. + * @ingroup effects + */ +typedef struct OMX_AUDIO_CONFIG_CHORUSTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bEnable; /**< Enable/disable for chorus */ + OMX_BU32 sDelay; /**< average delay in milliseconds */ + OMX_BU32 sModulationRate; /**< rate of modulation in millihertz */ + OMX_U32 nModulationDepth; /**< depth of modulation as a percentage of + delay (i.e. 0 to 100) */ + OMX_BU32 nFeedback; /**< Feedback from chorus output to input in percentage */ +} OMX_AUDIO_CONFIG_CHORUSTYPE; + + +/** Reverberation is part of the reflected sound that follows the early + * reflections. In a typical room, this consists of a dense succession of + * echoes whose energy decays exponentially. The reverberation effect structure + * as defined here includes both (early) reflections as well as (late) reverberations. + * @ingroup effects + */ +typedef struct OMX_AUDIO_CONFIG_REVERBERATIONTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bEnable; /**< Enable/disable for reverberation control */ + OMX_BS32 sRoomLevel; /**< Intensity level for the whole room effect + (i.e. both early reflections and late + reverberation) in millibels */ + OMX_BS32 sRoomHighFreqLevel; /**< Attenuation at high frequencies + relative to the intensity at low + frequencies in millibels */ + OMX_BS32 sReflectionsLevel; /**< Intensity level of early reflections + (relative to room value), in millibels */ + OMX_BU32 sReflectionsDelay; /**< Delay time of the first reflection relative + to the direct path, in milliseconds */ + OMX_BS32 sReverbLevel; /**< Intensity level of late reverberation + relative to room level, in millibels */ + OMX_BU32 sReverbDelay; /**< Time delay from the first early reflection + to the beginning of the late reverberation + section, in milliseconds */ + OMX_BU32 sDecayTime; /**< Late reverberation decay time at low + frequencies, in milliseconds */ + OMX_BU32 nDecayHighFreqRatio; /**< Ratio of high frequency decay time relative + to low frequency decay time in percent */ + OMX_U32 nDensity; /**< Modal density in the late reverberation decay, + in percent (i.e. 0 - 100) */ + OMX_U32 nDiffusion; /**< Echo density in the late reverberation decay, + in percent (i.e. 0 - 100) */ + OMX_BU32 sReferenceHighFreq; /**< Reference high frequency in Hertz. This is + the frequency used as the reference for all + the high-frequency settings above */ + +} OMX_AUDIO_CONFIG_REVERBERATIONTYPE; + + +/** Possible settings for the Echo Cancelation structure to use + * @ingroup effects + */ +typedef enum OMX_AUDIO_ECHOCANTYPE { + OMX_AUDIO_EchoCanOff = 0, /**< Echo Cancellation is disabled */ + OMX_AUDIO_EchoCanNormal, /**< Echo Cancellation normal operation - + echo from plastics and face */ + OMX_AUDIO_EchoCanHFree, /**< Echo Cancellation optimized for + Hands Free operation */ + OMX_AUDIO_EchoCanCarKit, /**< Echo Cancellation optimized for + Car Kit (longer echo) */ + OMX_AUDIO_EchoCanKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_AUDIO_EchoCanVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_AUDIO_EchoCanMax = 0x7FFFFFFF +} OMX_AUDIO_ECHOCANTYPE; + + +/** Enable / Disable for echo cancelation, which removes undesired echo's + * from the audio + * @ingroup effects + */ +typedef struct OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_AUDIO_ECHOCANTYPE eEchoCancelation; /**< Echo cancelation settings */ +} OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE; + + +/** Enable / Disable for noise reduction, which undesired noise from + * the audio + * @ingroup effects + */ +typedef struct OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BOOL bNoiseReduction; /**< Enable/disable for noise reduction */ +} OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE; + +/** @} */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ + diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Component.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Component.h new file mode 100644 index 000000000..d5956405e --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Component.h @@ -0,0 +1,579 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** OMX_Component.h - OpenMax IL version 1.1.2 + * The OMX_Component header file contains the definitions used to define + * the public interface of a component. This header file is intended to + * be used by both the application and the component. + */ + +#ifndef OMX_Component_h +#define OMX_Component_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + + +/* Each OMX header must include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ + +#include +#include +#include +#include + +/** @ingroup comp */ +typedef enum OMX_PORTDOMAINTYPE { + OMX_PortDomainAudio, + OMX_PortDomainVideo, + OMX_PortDomainImage, + OMX_PortDomainOther, + OMX_PortDomainKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_PortDomainVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_PortDomainMax = 0x7ffffff +} OMX_PORTDOMAINTYPE; + +/** @ingroup comp */ +typedef struct OMX_PARAM_PORTDEFINITIONTYPE { + OMX_U32 nSize; /**< Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port number the structure applies to */ + OMX_DIRTYPE eDir; /**< Direction (input or output) of this port */ + OMX_U32 nBufferCountActual; /**< The actual number of buffers allocated on this port */ + OMX_U32 nBufferCountMin; /**< The minimum number of buffers this port requires */ + OMX_U32 nBufferSize; /**< Size, in bytes, for buffers to be used for this channel */ + OMX_BOOL bEnabled; /**< Ports default to enabled and are enabled/disabled by + OMX_CommandPortEnable/OMX_CommandPortDisable. + When disabled a port is unpopulated. A disabled port + is not populated with buffers on a transition to IDLE. */ + OMX_BOOL bPopulated; /**< Port is populated with all of its buffers as indicated by + nBufferCountActual. A disabled port is always unpopulated. + An enabled port is populated on a transition to OMX_StateIdle + and unpopulated on a transition to loaded. */ + OMX_PORTDOMAINTYPE eDomain; /**< Domain of the port. Determines the contents of metadata below. */ + union { + OMX_AUDIO_PORTDEFINITIONTYPE audio; + OMX_VIDEO_PORTDEFINITIONTYPE video; + OMX_IMAGE_PORTDEFINITIONTYPE image; + OMX_OTHER_PORTDEFINITIONTYPE other; + } format; + OMX_BOOL bBuffersContiguous; + OMX_U32 nBufferAlignment; +} OMX_PARAM_PORTDEFINITIONTYPE; + +/** @ingroup comp */ +typedef struct OMX_PARAM_U32TYPE { + OMX_U32 nSize; /**< Size of this structure, in Bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_U32 nU32; /**< U32 value */ +} OMX_PARAM_U32TYPE; + +/** @ingroup rpm */ +typedef enum OMX_SUSPENSIONPOLICYTYPE { + OMX_SuspensionDisabled, /**< No suspension; v1.0 behavior */ + OMX_SuspensionEnabled, /**< Suspension allowed */ + OMX_SuspensionPolicyKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_SuspensionPolicyStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_SuspensionPolicyMax = 0x7fffffff +} OMX_SUSPENSIONPOLICYTYPE; + +/** @ingroup rpm */ +typedef struct OMX_PARAM_SUSPENSIONPOLICYTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_SUSPENSIONPOLICYTYPE ePolicy; +} OMX_PARAM_SUSPENSIONPOLICYTYPE; + +/** @ingroup rpm */ +typedef enum OMX_SUSPENSIONTYPE { + OMX_NotSuspended, /**< component is not suspended */ + OMX_Suspended, /**< component is suspended */ + OMX_SuspensionKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_SuspensionVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_SuspendMax = 0x7FFFFFFF +} OMX_SUSPENSIONTYPE; + +/** @ingroup rpm */ +typedef struct OMX_PARAM_SUSPENSIONTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_SUSPENSIONTYPE eType; +} OMX_PARAM_SUSPENSIONTYPE ; + +typedef struct OMX_CONFIG_BOOLEANTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_BOOL bEnabled; +} OMX_CONFIG_BOOLEANTYPE; + +/* Parameter specifying the content uri to use. */ +/** @ingroup cp */ +typedef struct OMX_PARAM_CONTENTURITYPE +{ + OMX_U32 nSize; /**< size of the structure in bytes, including + actual URI name */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U8 contentURI[1]; /**< The URI name */ +} OMX_PARAM_CONTENTURITYPE; + +/* Parameter specifying the pipe to use. */ +/** @ingroup cp */ +typedef struct OMX_PARAM_CONTENTPIPETYPE +{ + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_HANDLETYPE hPipe; /**< The pipe handle*/ +} OMX_PARAM_CONTENTPIPETYPE; + +/** @ingroup rpm */ +typedef struct OMX_RESOURCECONCEALMENTTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_BOOL bResourceConcealmentForbidden; /**< disallow the use of resource concealment + methods (like degrading algorithm quality to + lower resource consumption or functional bypass) + on a component as a resolution to resource conflicts. */ +} OMX_RESOURCECONCEALMENTTYPE; + + +/** @ingroup metadata */ +typedef enum OMX_METADATACHARSETTYPE { + OMX_MetadataCharsetUnknown = 0, + OMX_MetadataCharsetASCII, + OMX_MetadataCharsetBinary, + OMX_MetadataCharsetCodePage1252, + OMX_MetadataCharsetUTF8, + OMX_MetadataCharsetJavaConformantUTF8, + OMX_MetadataCharsetUTF7, + OMX_MetadataCharsetImapUTF7, + OMX_MetadataCharsetUTF16LE, + OMX_MetadataCharsetUTF16BE, + OMX_MetadataCharsetGB12345, + OMX_MetadataCharsetHZGB2312, + OMX_MetadataCharsetGB2312, + OMX_MetadataCharsetGB18030, + OMX_MetadataCharsetGBK, + OMX_MetadataCharsetBig5, + OMX_MetadataCharsetISO88591, + OMX_MetadataCharsetISO88592, + OMX_MetadataCharsetISO88593, + OMX_MetadataCharsetISO88594, + OMX_MetadataCharsetISO88595, + OMX_MetadataCharsetISO88596, + OMX_MetadataCharsetISO88597, + OMX_MetadataCharsetISO88598, + OMX_MetadataCharsetISO88599, + OMX_MetadataCharsetISO885910, + OMX_MetadataCharsetISO885913, + OMX_MetadataCharsetISO885914, + OMX_MetadataCharsetISO885915, + OMX_MetadataCharsetShiftJIS, + OMX_MetadataCharsetISO2022JP, + OMX_MetadataCharsetISO2022JP1, + OMX_MetadataCharsetISOEUCJP, + OMX_MetadataCharsetSMS7Bit, + OMX_MetadataCharsetKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_MetadataCharsetVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_MetadataCharsetTypeMax= 0x7FFFFFFF +} OMX_METADATACHARSETTYPE; + +/** @ingroup metadata */ +typedef enum OMX_METADATASCOPETYPE +{ + OMX_MetadataScopeAllLevels, + OMX_MetadataScopeTopLevel, + OMX_MetadataScopePortLevel, + OMX_MetadataScopeNodeLevel, + OMX_MetadataScopeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_MetadataScopeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_MetadataScopeTypeMax = 0x7fffffff +} OMX_METADATASCOPETYPE; + +/** @ingroup metadata */ +typedef enum OMX_METADATASEARCHMODETYPE +{ + OMX_MetadataSearchValueSizeByIndex, + OMX_MetadataSearchItemByIndex, + OMX_MetadataSearchNextItemByKey, + OMX_MetadataSearchKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_MetadataSearchVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_MetadataSearchTypeMax = 0x7fffffff +} OMX_METADATASEARCHMODETYPE; +/** @ingroup metadata */ +typedef struct OMX_CONFIG_METADATAITEMCOUNTTYPE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_METADATASCOPETYPE eScopeMode; + OMX_U32 nScopeSpecifier; + OMX_U32 nMetadataItemCount; +} OMX_CONFIG_METADATAITEMCOUNTTYPE; + +/** @ingroup metadata */ +typedef struct OMX_CONFIG_METADATAITEMTYPE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_METADATASCOPETYPE eScopeMode; + OMX_U32 nScopeSpecifier; + OMX_U32 nMetadataItemIndex; + OMX_METADATASEARCHMODETYPE eSearchMode; + OMX_METADATACHARSETTYPE eKeyCharset; + OMX_U8 nKeySizeUsed; + OMX_U8 nKey[128]; + OMX_METADATACHARSETTYPE eValueCharset; + OMX_STRING sLanguageCountry; + OMX_U32 nValueMaxSize; + OMX_U32 nValueSizeUsed; + OMX_U8 nValue[1]; +} OMX_CONFIG_METADATAITEMTYPE; + +/* @ingroup metadata */ +typedef struct OMX_CONFIG_CONTAINERNODECOUNTTYPE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_BOOL bAllKeys; + OMX_U32 nParentNodeID; + OMX_U32 nNumNodes; +} OMX_CONFIG_CONTAINERNODECOUNTTYPE; + +/** @ingroup metadata */ +typedef struct OMX_CONFIG_CONTAINERNODEIDTYPE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_BOOL bAllKeys; + OMX_U32 nParentNodeID; + OMX_U32 nNodeIndex; + OMX_U32 nNodeID; + OMX_STRING cNodeName; + OMX_BOOL bIsLeafType; +} OMX_CONFIG_CONTAINERNODEIDTYPE; + +/** @ingroup metadata */ +typedef struct OMX_PARAM_METADATAFILTERTYPE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_BOOL bAllKeys; /* if true then this structure refers to all keys and + * the three key fields below are ignored */ + OMX_METADATACHARSETTYPE eKeyCharset; + OMX_U32 nKeySizeUsed; + OMX_U8 nKey [128]; + OMX_U32 nLanguageCountrySizeUsed; + OMX_U8 nLanguageCountry[128]; + OMX_BOOL bEnabled; /* if true then key is part of filter (e.g. + * retained for query later). If false then + * key is not part of filter */ +} OMX_PARAM_METADATAFILTERTYPE; + +/** The OMX_HANDLETYPE structure defines the component handle. The component + * handle is used to access all of the component's public methods and also + * contains pointers to the component's private data area. The component + * handle is initialized by the OMX core (with help from the component) + * during the process of loading the component. After the component is + * successfully loaded, the application can safely access any of the + * component's public functions (although some may return an error because + * the state is inappropriate for the access). + * + * @ingroup comp + */ +typedef struct OMX_COMPONENTTYPE +{ + /** The size of this structure, in bytes. It is the responsibility + of the allocator of this structure to fill in this value. Since + this structure is allocated by the GetHandle function, this + function will fill in this value. */ + OMX_U32 nSize; + + /** nVersion is the version of the OMX specification that the structure + is built against. It is the responsibility of the creator of this + structure to initialize this value and every user of this structure + should verify that it knows how to use the exact version of + this structure found herein. */ + OMX_VERSIONTYPE nVersion; + + /** pComponentPrivate is a pointer to the component private data area. + This member is allocated and initialized by the component when the + component is first loaded. The application should not access this + data area. */ + OMX_PTR pComponentPrivate; + + /** pApplicationPrivate is a pointer that is a parameter to the + OMX_GetHandle method, and contains an application private value + provided by the IL client. This application private data is + returned to the IL Client by OMX in all callbacks */ + OMX_PTR pApplicationPrivate; + + /** refer to OMX_GetComponentVersion in OMX_core.h or the OMX IL + specification for details on the GetComponentVersion method. + */ + OMX_ERRORTYPE (*GetComponentVersion)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_OUT OMX_STRING pComponentName, + OMX_OUT OMX_VERSIONTYPE* pComponentVersion, + OMX_OUT OMX_VERSIONTYPE* pSpecVersion, + OMX_OUT OMX_UUIDTYPE* pComponentUUID); + + /** refer to OMX_SendCommand in OMX_core.h or the OMX IL + specification for details on the SendCommand method. + */ + OMX_ERRORTYPE (*SendCommand)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_COMMANDTYPE Cmd, + OMX_IN OMX_U32 nParam1, + OMX_IN OMX_PTR pCmdData); + + /** refer to OMX_GetParameter in OMX_core.h or the OMX IL + specification for details on the GetParameter method. + */ + OMX_ERRORTYPE (*GetParameter)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_INDEXTYPE nParamIndex, + OMX_INOUT OMX_PTR pComponentParameterStructure); + + + /** refer to OMX_SetParameter in OMX_core.h or the OMX IL + specification for details on the SetParameter method. + */ + OMX_ERRORTYPE (*SetParameter)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_INDEXTYPE nIndex, + OMX_IN OMX_PTR pComponentParameterStructure); + + + /** refer to OMX_GetConfig in OMX_core.h or the OMX IL + specification for details on the GetConfig method. + */ + OMX_ERRORTYPE (*GetConfig)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_INDEXTYPE nIndex, + OMX_INOUT OMX_PTR pComponentConfigStructure); + + + /** refer to OMX_SetConfig in OMX_core.h or the OMX IL + specification for details on the SetConfig method. + */ + OMX_ERRORTYPE (*SetConfig)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_INDEXTYPE nIndex, + OMX_IN OMX_PTR pComponentConfigStructure); + + + /** refer to OMX_GetExtensionIndex in OMX_core.h or the OMX IL + specification for details on the GetExtensionIndex method. + */ + OMX_ERRORTYPE (*GetExtensionIndex)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_STRING cParameterName, + OMX_OUT OMX_INDEXTYPE* pIndexType); + + + /** refer to OMX_GetState in OMX_core.h or the OMX IL + specification for details on the GetState method. + */ + OMX_ERRORTYPE (*GetState)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_OUT OMX_STATETYPE* pState); + + + /** The ComponentTunnelRequest method will interact with another OMX + component to determine if tunneling is possible and to setup the + tunneling. The return codes for this method can be used to + determine if tunneling is not possible, or if tunneling is not + supported. + + Base profile components (i.e. non-interop) do not support this + method and should return OMX_ErrorNotImplemented + + The interop profile component MUST support tunneling to another + interop profile component with a compatible port parameters. + A component may also support proprietary communication. + + If proprietary communication is supported the negotiation of + proprietary communication is done outside of OMX in a vendor + specific way. It is only required that the proper result be + returned and the details of how the setup is done is left + to the component implementation. + + When this method is invoked when nPort in an output port, the + component will: + 1. Populate the pTunnelSetup structure with the output port's + requirements and constraints for the tunnel. + + When this method is invoked when nPort in an input port, the + component will: + 1. Query the necessary parameters from the output port to + determine if the ports are compatible for tunneling + 2. If the ports are compatible, the component should store + the tunnel step provided by the output port + 3. Determine which port (either input or output) is the buffer + supplier, and call OMX_SetParameter on the output port to + indicate this selection. + + The component will return from this call within 5 msec. + + @param [in] hComp + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle method. + @param [in] nPort + nPort is used to select the port on the component to be used + for tunneling. + @param [in] hTunneledComp + Handle of the component to tunnel with. This is the component + handle returned by the call to the OMX_GetHandle method. When + this parameter is 0x0 the component should setup the port for + communication with the application / IL Client. + @param [in] nPortOutput + nPortOutput is used indicate the port the component should + tunnel with. + @param [in] pTunnelSetup + Pointer to the tunnel setup structure. When nPort is an output port + the component should populate the fields of this structure. When + When nPort is an input port the component should review the setup + provided by the component with the output port. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup tun + */ + + OMX_ERRORTYPE (*ComponentTunnelRequest)( + OMX_IN OMX_HANDLETYPE hComp, + OMX_IN OMX_U32 nPort, + OMX_IN OMX_HANDLETYPE hTunneledComp, + OMX_IN OMX_U32 nTunneledPort, + OMX_INOUT OMX_TUNNELSETUPTYPE* pTunnelSetup); + + /** refer to OMX_UseBuffer in OMX_core.h or the OMX IL + specification for details on the UseBuffer method. + @ingroup buf + */ + OMX_ERRORTYPE (*UseBuffer)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_INOUT OMX_BUFFERHEADERTYPE** ppBufferHdr, + OMX_IN OMX_U32 nPortIndex, + OMX_IN OMX_PTR pAppPrivate, + OMX_IN OMX_U32 nSizeBytes, + OMX_IN OMX_U8* pBuffer); + + /** refer to OMX_AllocateBuffer in OMX_core.h or the OMX IL + specification for details on the AllocateBuffer method. + @ingroup buf + */ + OMX_ERRORTYPE (*AllocateBuffer)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_INOUT OMX_BUFFERHEADERTYPE** ppBuffer, + OMX_IN OMX_U32 nPortIndex, + OMX_IN OMX_PTR pAppPrivate, + OMX_IN OMX_U32 nSizeBytes); + + /** refer to OMX_FreeBuffer in OMX_core.h or the OMX IL + specification for details on the FreeBuffer method. + @ingroup buf + */ + OMX_ERRORTYPE (*FreeBuffer)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_U32 nPortIndex, + OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); + + /** refer to OMX_EmptyThisBuffer in OMX_core.h or the OMX IL + specification for details on the EmptyThisBuffer method. + @ingroup buf + */ + OMX_ERRORTYPE (*EmptyThisBuffer)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); + + /** refer to OMX_FillThisBuffer in OMX_core.h or the OMX IL + specification for details on the FillThisBuffer method. + @ingroup buf + */ + OMX_ERRORTYPE (*FillThisBuffer)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); + + /** The SetCallbacks method is used by the core to specify the callback + structure from the application to the component. This is a blocking + call. The component will return from this call within 5 msec. + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the GetHandle function. + @param [in] pCallbacks + pointer to an OMX_CALLBACKTYPE structure used to provide the + callback information to the component + @param [in] pAppData + pointer to an application defined value. It is anticipated that + the application will pass a pointer to a data structure or a "this + pointer" in this area to allow the callback (in the application) + to determine the context of the call + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + */ + OMX_ERRORTYPE (*SetCallbacks)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_CALLBACKTYPE* pCallbacks, + OMX_IN OMX_PTR pAppData); + + /** ComponentDeInit method is used to deinitialize the component + providing a means to free any resources allocated at component + initialization. NOTE: After this call the component handle is + not valid for further use. + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the GetHandle function. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + */ + OMX_ERRORTYPE (*ComponentDeInit)( + OMX_IN OMX_HANDLETYPE hComponent); + + /** @ingroup buf */ + OMX_ERRORTYPE (*UseEGLImage)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_INOUT OMX_BUFFERHEADERTYPE** ppBufferHdr, + OMX_IN OMX_U32 nPortIndex, + OMX_IN OMX_PTR pAppPrivate, + OMX_IN void* eglImage); + + OMX_ERRORTYPE (*ComponentRoleEnum)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_OUT OMX_U8 *cRole, + OMX_IN OMX_U32 nIndex); + +} OMX_COMPONENTTYPE; + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_ContentPipe.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_ContentPipe.h new file mode 100644 index 000000000..5f6310c28 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_ContentPipe.h @@ -0,0 +1,195 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** OMX_ContentPipe.h - OpenMax IL version 1.1.2 + * The OMX_ContentPipe header file contains the definitions used to define + * the public interface for content piples. This header file is intended to + * be used by the component. + */ + +#ifndef OMX_CONTENTPIPE_H +#define OMX_CONTENTPIPE_H + +#ifndef KD_EACCES +/* OpenKODE error codes. CPResult values may be zero (indicating success + or one of the following values) */ +#define KD_EACCES (1) +#define KD_EADDRINUSE (2) +#define KD_EAGAIN (5) +#define KD_EBADF (7) +#define KD_EBUSY (8) +#define KD_ECONNREFUSED (9) +#define KD_ECONNRESET (10) +#define KD_EDEADLK (11) +#define KD_EDESTADDRREQ (12) +#define KD_ERANGE (35) +#define KD_EEXIST (13) +#define KD_EFBIG (14) +#define KD_EHOSTUNREACH (15) +#define KD_EINVAL (17) +#define KD_EIO (18) +#define KD_EISCONN (20) +#define KD_EISDIR (21) +#define KD_EMFILE (22) +#define KD_ENAMETOOLONG (23) +#define KD_ENOENT (24) +#define KD_ENOMEM (25) +#define KD_ENOSPC (26) +#define KD_ENOSYS (27) +#define KD_ENOTCONN (28) +#define KD_EPERM (33) +#define KD_ETIMEDOUT (36) +#define KD_EILSEQ (19) +#endif + +/** Map types from OMX standard types only here so interface is as generic as possible. */ +typedef OMX_U32 CPresult; +typedef char * CPstring; +typedef void * CPhandle; +typedef OMX_U32 CPuint; +typedef OMX_S32 CPint; +typedef char CPbyte; +typedef OMX_BOOL CPbool; + +/** enumeration of origin types used in the CP_PIPETYPE's Seek function + * @ingroup cp + */ +typedef enum CP_ORIGINTYPE { + CP_OriginBegin, + CP_OriginCur, + CP_OriginEnd, + CP_OriginKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + CP_OriginVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + CP_OriginMax = 0X7FFFFFFF +} CP_ORIGINTYPE; + +/** enumeration of contact access types used in the CP_PIPETYPE's Open function + * @ingroup cp + */ +typedef enum CP_ACCESSTYPE { + CP_AccessRead, + CP_AccessWrite, + CP_AccessReadWrite , + CP_AccessKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + CP_AccessVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + CP_AccessMax = 0X7FFFFFFF +} CP_ACCESSTYPE; + +/** enumeration of results returned by the CP_PIPETYPE's CheckAvailableBytes function + * @ingroup cp + */ +typedef enum CP_CHECKBYTESRESULTTYPE +{ + CP_CheckBytesOk, /**< There are at least the request number + of bytes available */ + CP_CheckBytesNotReady, /**< The pipe is still retrieving bytes + and presently lacks sufficient bytes. + Client will be called when they are + sufficient bytes are available. */ + CP_CheckBytesInsufficientBytes , /**< The pipe has retrieved all bytes + but those available are less than those + requested */ + CP_CheckBytesAtEndOfStream, /**< The pipe has reached the end of stream + and no more bytes are available. */ + CP_CheckBytesOutOfBuffers, /**< All read/write buffers are currently in use. */ + CP_CheckBytesKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + CP_CheckBytesVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + CP_CheckBytesMax = 0X7FFFFFFF +} CP_CHECKBYTESRESULTTYPE; + +/** enumeration of content pipe events sent to the client callback. + * @ingroup cp + */ +typedef enum CP_EVENTTYPE{ + CP_BytesAvailable, /** bytes requested in a CheckAvailableBytes call are now available*/ + CP_Overflow, /** enumeration of content pipe events sent to the client callback*/ + CP_PipeDisconnected , /** enumeration of content pipe events sent to the client callback*/ + CP_EventKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + CP_EventVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + CP_EventMax = 0X7FFFFFFF +} CP_EVENTTYPE; + +/** content pipe definition + * @ingroup cp + */ +typedef struct CP_PIPETYPE +{ + /** Open a content stream for reading or writing. */ + CPresult (*Open)( CPhandle* hContent, CPstring szURI, CP_ACCESSTYPE eAccess ); + + /** Close a content stream. */ + CPresult (*Close)( CPhandle hContent ); + + /** Create a content source and open it for writing. */ + CPresult (*Create)( CPhandle *hContent, CPstring szURI ); + + /** Check the that specified number of bytes are available for reading or writing (depending on access type).*/ + CPresult (*CheckAvailableBytes)( CPhandle hContent, CPuint nBytesRequested, CP_CHECKBYTESRESULTTYPE *eResult ); + + /** Seek to certain position in the content relative to the specified origin. */ + CPresult (*SetPosition)( CPhandle hContent, CPint nOffset, CP_ORIGINTYPE eOrigin); + + /** Retrieve the current position relative to the start of the content. */ + CPresult (*GetPosition)( CPhandle hContent, CPuint *pPosition); + + /** Retrieve data of the specified size from the content stream (advance content pointer by size of data). + Note: pipe client provides pointer. This function is appropriate for small high frequency reads. */ + CPresult (*Read)( CPhandle hContent, CPbyte *pData, CPuint nSize); + + /** Retrieve a buffer allocated by the pipe that contains the requested number of bytes. + Buffer contains the next block of bytes, as specified by nSize, of the content. nSize also + returns the size of the block actually read. Content pointer advances the by the returned size. + Note: pipe provides pointer. This function is appropriate for large reads. The client must call + ReleaseReadBuffer when done with buffer. + + In some cases the requested block may not reside in contiguous memory within the + pipe implementation. For instance if the pipe leverages a circular buffer then the requested + block may straddle the boundary of the circular buffer. By default a pipe implementation + performs a copy in this case to provide the block to the pipe client in one contiguous buffer. + If, however, the client sets bForbidCopy, then the pipe returns only those bytes preceding the memory + boundary. Here the client may retrieve the data in segments over successive calls. */ + CPresult (*ReadBuffer)( CPhandle hContent, CPbyte **ppBuffer, CPuint *nSize, CPbool bForbidCopy); + + /** Release a buffer obtained by ReadBuffer back to the pipe. */ + CPresult (*ReleaseReadBuffer)(CPhandle hContent, CPbyte *pBuffer); + + /** Write data of the specified size to the content (advance content pointer by size of data). + Note: pipe client provides pointer. This function is appropriate for small high frequency writes. */ + CPresult (*Write)( CPhandle hContent, CPbyte *data, CPuint nSize); + + /** Retrieve a buffer allocated by the pipe used to write data to the content. + Client will fill buffer with output data. Note: pipe provides pointer. This function is appropriate + for large writes. The client must call WriteBuffer when done it has filled the buffer with data.*/ + CPresult (*GetWriteBuffer)( CPhandle hContent, CPbyte **ppBuffer, CPuint nSize); + + /** Deliver a buffer obtained via GetWriteBuffer to the pipe. Pipe will write the + the contents of the buffer to content and advance content pointer by the size of the buffer */ + CPresult (*WriteBuffer)( CPhandle hContent, CPbyte *pBuffer, CPuint nFilledSize); + + /** Register a per-handle client callback with the content pipe. */ + CPresult (*RegisterCallback)( CPhandle hContent, CPresult (*ClientCallback)(CP_EVENTTYPE eEvent, CPuint iParam)); + +} CP_PIPETYPE; + +#endif + diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Core.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Core.h new file mode 100644 index 000000000..52d211f0d --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Core.h @@ -0,0 +1,1440 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** OMX_Core.h - OpenMax IL version 1.1.2 + * The OMX_Core header file contains the definitions used by both the + * application and the component to access common items. + */ + +#ifndef OMX_Core_h +#define OMX_Core_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +/* Each OMX header shall include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ + +#include + + +/** The OMX_COMMANDTYPE enumeration is used to specify the action in the + * OMX_SendCommand macro. + * @ingroup core + */ +typedef enum OMX_COMMANDTYPE +{ + OMX_CommandStateSet, /**< Change the component state */ + OMX_CommandFlush, /**< Flush the data queue(s) of a component */ + OMX_CommandPortDisable, /**< Disable a port on a component. */ + OMX_CommandPortEnable, /**< Enable a port on a component. */ + OMX_CommandMarkBuffer, /**< Mark a component/buffer for observation */ + OMX_CommandKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_CommandVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_CommandMax = 0X7FFFFFFF +} OMX_COMMANDTYPE; + + + +/** The OMX_STATETYPE enumeration is used to indicate or change the component + * state. This enumeration reflects the current state of the component when + * used with the OMX_GetState macro or becomes the parameter in a state change + * command when used with the OMX_SendCommand macro. + * + * The component will be in the Loaded state after the component is initially + * loaded into memory. In the Loaded state, the component is not allowed to + * allocate or hold resources other than to build it's internal parameter + * and configuration tables. The application will send one or more + * SetParameters/GetParameters and SetConfig/GetConfig commands to the + * component and the component will record each of these parameter and + * configuration changes for use later. When the application sends the + * Idle command, the component will acquire the resources needed for the + * specified configuration and will transition to the idle state if the + * allocation is successful. If the component cannot successfully + * transition to the idle state for any reason, the state of the component + * shall be fully rolled back to the Loaded state (e.g. all allocated + * resources shall be released). When the component receives the command + * to go to the Executing state, it shall begin processing buffers by + * sending all input buffers it holds to the application. While + * the component is in the Idle state, the application may also send the + * Pause command. If the component receives the pause command while in the + * Idle state, the component shall send all input buffers it holds to the + * application, but shall not begin processing buffers. This will allow the + * application to prefill buffers. + * + * @ingroup comp + */ + +typedef enum OMX_STATETYPE +{ + OMX_StateInvalid, /**< component has detected that it's internal data + structures are corrupted to the point that + it cannot determine it's state properly */ + OMX_StateLoaded, /**< component has been loaded but has not completed + initialization. The OMX_SetParameter macro + and the OMX_GetParameter macro are the only + valid macros allowed to be sent to the + component in this state. */ + OMX_StateIdle, /**< component initialization has been completed + successfully and the component is ready to + to start. */ + OMX_StateExecuting, /**< component has accepted the start command and + is processing data (if data is available) */ + OMX_StatePause, /**< component has received pause command */ + OMX_StateWaitForResources, /**< component is waiting for resources, either after + preemption or before it gets the resources requested. + See specification for complete details. */ + OMX_StateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_StateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_StateMax = 0X7FFFFFFF +} OMX_STATETYPE; + +/** The OMX_ERRORTYPE enumeration defines the standard OMX Errors. These + * errors should cover most of the common failure cases. However, + * vendors are free to add additional error messages of their own as + * long as they follow these rules: + * 1. Vendor error messages shall be in the range of 0x90000000 to + * 0x9000FFFF. + * 2. Vendor error messages shall be defined in a header file provided + * with the component. No error messages are allowed that are + * not defined. + */ +typedef enum OMX_ERRORTYPE +{ + OMX_ErrorNone = 0, + + /** There were insufficient resources to perform the requested operation */ + OMX_ErrorInsufficientResources = (OMX_S32) 0x80001000, + + /** There was an error, but the cause of the error could not be determined */ + OMX_ErrorUndefined = (OMX_S32) 0x80001001, + + /** The component name string was not valid */ + OMX_ErrorInvalidComponentName = (OMX_S32) 0x80001002, + + /** No component with the specified name string was found */ + OMX_ErrorComponentNotFound = (OMX_S32) 0x80001003, + + /** The component specified did not have a "OMX_ComponentInit" or + "OMX_ComponentDeInit entry point */ + OMX_ErrorInvalidComponent = (OMX_S32) 0x80001004, + + /** One or more parameters were not valid */ + OMX_ErrorBadParameter = (OMX_S32) 0x80001005, + + /** The requested function is not implemented */ + OMX_ErrorNotImplemented = (OMX_S32) 0x80001006, + + /** The buffer was emptied before the next buffer was ready */ + OMX_ErrorUnderflow = (OMX_S32) 0x80001007, + + /** The buffer was not available when it was needed */ + OMX_ErrorOverflow = (OMX_S32) 0x80001008, + + /** The hardware failed to respond as expected */ + OMX_ErrorHardware = (OMX_S32) 0x80001009, + + /** The component is in the state OMX_StateInvalid */ + OMX_ErrorInvalidState = (OMX_S32) 0x8000100A, + + /** Stream is found to be corrupt */ + OMX_ErrorStreamCorrupt = (OMX_S32) 0x8000100B, + + /** Ports being connected are not compatible */ + OMX_ErrorPortsNotCompatible = (OMX_S32) 0x8000100C, + + /** Resources allocated to an idle component have been + lost resulting in the component returning to the loaded state */ + OMX_ErrorResourcesLost = (OMX_S32) 0x8000100D, + + /** No more indicies can be enumerated */ + OMX_ErrorNoMore = (OMX_S32) 0x8000100E, + + /** The component detected a version mismatch */ + OMX_ErrorVersionMismatch = (OMX_S32) 0x8000100F, + + /** The component is not ready to return data at this time */ + OMX_ErrorNotReady = (OMX_S32) 0x80001010, + + /** There was a timeout that occurred */ + OMX_ErrorTimeout = (OMX_S32) 0x80001011, + + /** This error occurs when trying to transition into the state you are already in */ + OMX_ErrorSameState = (OMX_S32) 0x80001012, + + /** Resources allocated to an executing or paused component have been + preempted, causing the component to return to the idle state */ + OMX_ErrorResourcesPreempted = (OMX_S32) 0x80001013, + + /** A non-supplier port sends this error to the IL client (via the EventHandler callback) + during the allocation of buffers (on a transition from the LOADED to the IDLE state or + on a port restart) when it deems that it has waited an unusually long time for the supplier + to send it an allocated buffer via a UseBuffer call. */ + OMX_ErrorPortUnresponsiveDuringAllocation = (OMX_S32) 0x80001014, + + /** A non-supplier port sends this error to the IL client (via the EventHandler callback) + during the deallocation of buffers (on a transition from the IDLE to LOADED state or + on a port stop) when it deems that it has waited an unusually long time for the supplier + to request the deallocation of a buffer header via a FreeBuffer call. */ + OMX_ErrorPortUnresponsiveDuringDeallocation = (OMX_S32) 0x80001015, + + /** A supplier port sends this error to the IL client (via the EventHandler callback) + during the stopping of a port (either on a transition from the IDLE to LOADED + state or a port stop) when it deems that it has waited an unusually long time for + the non-supplier to return a buffer via an EmptyThisBuffer or FillThisBuffer call. */ + OMX_ErrorPortUnresponsiveDuringStop = (OMX_S32) 0x80001016, + + /** Attempting a state transtion that is not allowed */ + OMX_ErrorIncorrectStateTransition = (OMX_S32) 0x80001017, + + /* Attempting a command that is not allowed during the present state. */ + OMX_ErrorIncorrectStateOperation = (OMX_S32) 0x80001018, + + /** The values encapsulated in the parameter or config structure are not supported. */ + OMX_ErrorUnsupportedSetting = (OMX_S32) 0x80001019, + + /** The parameter or config indicated by the given index is not supported. */ + OMX_ErrorUnsupportedIndex = (OMX_S32) 0x8000101A, + + /** The port index supplied is incorrect. */ + OMX_ErrorBadPortIndex = (OMX_S32) 0x8000101B, + + /** The port has lost one or more of its buffers and it thus unpopulated. */ + OMX_ErrorPortUnpopulated = (OMX_S32) 0x8000101C, + + /** Component suspended due to temporary loss of resources */ + OMX_ErrorComponentSuspended = (OMX_S32) 0x8000101D, + + /** Component suspended due to an inability to acquire dynamic resources */ + OMX_ErrorDynamicResourcesUnavailable = (OMX_S32) 0x8000101E, + + /** When the macroblock error reporting is enabled the component returns new error + for every frame that has errors */ + OMX_ErrorMbErrorsInFrame = (OMX_S32) 0x8000101F, + + /** A component reports this error when it cannot parse or determine the format of an input stream. */ + OMX_ErrorFormatNotDetected = (OMX_S32) 0x80001020, + + /** The content open operation failed. */ + OMX_ErrorContentPipeOpenFailed = (OMX_S32) 0x80001021, + + /** The content creation operation failed. */ + OMX_ErrorContentPipeCreationFailed = (OMX_S32) 0x80001022, + + /** Separate table information is being used */ + OMX_ErrorSeperateTablesUsed = (OMX_S32) 0x80001023, + + /** Tunneling is unsupported by the component*/ + OMX_ErrorTunnelingUnsupported = (OMX_S32) 0x80001024, + + OMX_ErrorKhronosExtensions = (OMX_S32)0x8F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_ErrorVendorStartUnused = (OMX_S32)0x90000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_ErrorMax = 0x7FFFFFFF +} OMX_ERRORTYPE; + +/** @ingroup core */ +typedef OMX_ERRORTYPE (* OMX_COMPONENTINITTYPE)(OMX_IN OMX_HANDLETYPE hComponent); + +/** @ingroup core */ +typedef struct OMX_COMPONENTREGISTERTYPE +{ + const char * pName; /* Component name, 128 byte limit (including '\0') applies */ + OMX_COMPONENTINITTYPE pInitialize; /* Component instance initialization function */ +} OMX_COMPONENTREGISTERTYPE; + +/** @ingroup core */ +extern OMX_COMPONENTREGISTERTYPE OMX_ComponentRegistered[]; + +/** @ingroup rpm */ +typedef struct OMX_PRIORITYMGMTTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nGroupPriority; /**< Priority of the component group */ + OMX_U32 nGroupID; /**< ID of the component group */ +} OMX_PRIORITYMGMTTYPE; + +/* Component name and Role names are limited to 128 characters including the terminating '\0'. */ +#define OMX_MAX_STRINGNAME_SIZE 128 + +/** @ingroup comp */ +typedef struct OMX_PARAM_COMPONENTROLETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U8 cRole[OMX_MAX_STRINGNAME_SIZE]; /**< name of standard component which defines component role */ +} OMX_PARAM_COMPONENTROLETYPE; + +/** End of Stream Buffer Flag: + * + * A component sets EOS when it has no more data to emit on a particular + * output port. Thus an output port shall set EOS on the last buffer it + * emits. A component's determination of when an output port should + * cease sending data is implemenation specific. + * @ingroup buf + */ + +#define OMX_BUFFERFLAG_EOS 0x00000001 + +/** Start Time Buffer Flag: + * + * The source of a stream (e.g. a demux component) sets the STARTTIME + * flag on the buffer that contains the starting timestamp for the + * stream. The starting timestamp corresponds to the first data that + * should be displayed at startup or after a seek. + * The first timestamp of the stream is not necessarily the start time. + * For instance, in the case of a seek to a particular video frame, + * the target frame may be an interframe. Thus the first buffer of + * the stream will be the intra-frame preceding the target frame and + * the starttime will occur with the target frame (with any other + * required frames required to reconstruct the target intervening). + * + * The STARTTIME flag is directly associated with the buffer's + * timestamp ' thus its association to buffer data and its + * propagation is identical to the timestamp's. + * + * When a Sync Component client receives a buffer with the + * STARTTIME flag it shall perform a SetConfig on its sync port + * using OMX_ConfigTimeClientStartTime and passing the buffer's + * timestamp. + * + * @ingroup buf + */ + +#define OMX_BUFFERFLAG_STARTTIME 0x00000002 + + + +/** Decode Only Buffer Flag: + * + * The source of a stream (e.g. a demux component) sets the DECODEONLY + * flag on any buffer that should shall be decoded but should not be + * displayed. This flag is used, for instance, when a source seeks to + * a target interframe that requires the decode of frames preceding the + * target to facilitate the target's reconstruction. In this case the + * source would emit the frames preceding the target downstream + * but mark them as decode only. + * + * The DECODEONLY is associated with buffer data and propagated in a + * manner identical to the buffer timestamp. + * + * A component that renders data should ignore all buffers with + * the DECODEONLY flag set. + * + * @ingroup buf + */ + +#define OMX_BUFFERFLAG_DECODEONLY 0x00000004 + + +/* Data Corrupt Flag: This flag is set when the IL client believes the data in the associated buffer is corrupt + * @ingroup buf + */ + +#define OMX_BUFFERFLAG_DATACORRUPT 0x00000008 + +/* End of Frame: The buffer contains exactly one end of frame and no data + * occurs after the end of frame. This flag is an optional hint. The absence + * of this flag does not imply the absence of an end of frame within the buffer. + * @ingroup buf +*/ +#define OMX_BUFFERFLAG_ENDOFFRAME 0x00000010 + +/* Sync Frame Flag: This flag is set when the buffer content contains a coded sync frame ' + * a frame that has no dependency on any other frame information + * @ingroup buf + */ +#define OMX_BUFFERFLAG_SYNCFRAME 0x00000020 + +/* Extra data present flag: there is extra data appended to the data stream + * residing in the buffer + * @ingroup buf + */ +#define OMX_BUFFERFLAG_EXTRADATA 0x00000040 + +/** Codec Config Buffer Flag: +* OMX_BUFFERFLAG_CODECCONFIG is an optional flag that is set by an +* output port when all bytes in the buffer form part or all of a set of +* codec specific configuration data. Examples include SPS/PPS nal units +* for OMX_VIDEO_CodingAVC or AudioSpecificConfig data for +* OMX_AUDIO_CodingAAC. Any component that for a given stream sets +* OMX_BUFFERFLAG_CODECCONFIG shall not mix codec configuration bytes +* with frame data in the same buffer, and shall send all buffers +* containing codec configuration bytes before any buffers containing +* frame data that those configurations bytes describe. +* If the stream format for a particular codec has a frame specific +* header at the start of each frame, for example OMX_AUDIO_CodingMP3 or +* OMX_AUDIO_CodingAAC in ADTS mode, then these shall be presented as +* normal without setting OMX_BUFFERFLAG_CODECCONFIG. + * @ingroup buf + */ +#define OMX_BUFFERFLAG_CODECCONFIG 0x00000080 + +/* +* OMX_BUFFERFLAG_READONLY: This flag is set when a component emitting the +* buffer on an output port or the IL client wishes to identify the buffer +* payload contents to be read-only. An IL client or an input port +* shall not alter the contents of the buffer. This flag shall only be +* cleared by the originator of the buffer when the buffer is returned. +* For tunneled ports, the usage of this flag shall be allowed only if the +* components negotiated a read-only tunnel +*/ +#define OMX_BUFFERFLAG_READONLY 0x00000200 + +/** @ingroup buf */ +typedef struct OMX_BUFFERHEADERTYPE +{ + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U8* pBuffer; /**< Pointer to actual block of memory + that is acting as the buffer */ + OMX_U32 nAllocLen; /**< size of the buffer allocated, in bytes */ + OMX_U32 nFilledLen; /**< number of bytes currently in the + buffer */ + OMX_U32 nOffset; /**< start offset of valid data in bytes from + the start of the buffer */ + OMX_PTR pAppPrivate; /**< pointer to any data the application + wants to associate with this buffer */ + OMX_PTR pPlatformPrivate; /**< pointer to any data the platform + wants to associate with this buffer */ + OMX_PTR pInputPortPrivate; /**< pointer to any data the input port + wants to associate with this buffer */ + OMX_PTR pOutputPortPrivate; /**< pointer to any data the output port + wants to associate with this buffer */ + OMX_HANDLETYPE hMarkTargetComponent; /**< The component that will generate a + mark event upon processing this buffer. */ + OMX_PTR pMarkData; /**< Application specific data associated with + the mark sent on a mark event to disambiguate + this mark from others. */ + OMX_U32 nTickCount; /**< Optional entry that the component and + application can update with a tick count + when they access the component. This + value should be in microseconds. Since + this is a value relative to an arbitrary + starting point, this value cannot be used + to determine absolute time. This is an + optional entry and not all components + will update it.*/ + OMX_TICKS nTimeStamp; /**< Timestamp corresponding to the sample + starting at the first logical sample + boundary in the buffer. Timestamps of + successive samples within the buffer may + be inferred by adding the duration of the + of the preceding buffer to the timestamp + of the preceding buffer.*/ + OMX_U32 nFlags; /**< buffer specific flags */ + OMX_U32 nOutputPortIndex; /**< The index of the output port (if any) using + this buffer */ + OMX_U32 nInputPortIndex; /**< The index of the input port (if any) using + this buffer */ +} OMX_BUFFERHEADERTYPE; + +/** The OMX_EXTRADATATYPE enumeration is used to define the + * possible extra data payload types. + * NB: this enum is binary backwards compatible with the previous + * OMX_EXTRADATA_QUANT define. This should be replaced with + * OMX_ExtraDataQuantization. + */ +typedef enum OMX_EXTRADATATYPE +{ + OMX_ExtraDataNone = 0, /**< Indicates that no more extra data sections follow */ + OMX_ExtraDataQuantization, /**< The data payload contains quantization data */ + OMX_ExtraDataKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_ExtraDataVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_ExtraDataMax = 0x7FFFFFFF +} OMX_EXTRADATATYPE; + + +typedef struct OMX_OTHER_EXTRADATATYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_EXTRADATATYPE eType; /* Extra Data type */ + OMX_U32 nDataSize; /* Size of the supporting data to follow */ + OMX_U8 data[1]; /* Supporting data hint */ +} OMX_OTHER_EXTRADATATYPE; + +/** @ingroup comp */ +typedef struct OMX_PORT_PARAM_TYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPorts; /**< The number of ports for this component */ + OMX_U32 nStartPortNumber; /** first port number for this type of port */ +} OMX_PORT_PARAM_TYPE; + +/** @ingroup comp */ +typedef enum OMX_EVENTTYPE +{ + OMX_EventCmdComplete, /**< component has sucessfully completed a command */ + OMX_EventError, /**< component has detected an error condition */ + OMX_EventMark, /**< component has detected a buffer mark */ + OMX_EventPortSettingsChanged, /**< component is reported a port settings change */ + OMX_EventBufferFlag, /**< component has detected an EOS */ + OMX_EventResourcesAcquired, /**< component has been granted resources and is + automatically starting the state change from + OMX_StateWaitForResources to OMX_StateIdle. */ + OMX_EventComponentResumed, /**< Component resumed due to reacquisition of resources */ + OMX_EventDynamicResourcesAvailable, /**< Component has acquired previously unavailable dynamic resources */ + OMX_EventPortFormatDetected, /**< Component has detected a supported format. */ + OMX_EventKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_EventVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_EventMax = 0x7FFFFFFF +} OMX_EVENTTYPE; + +typedef struct OMX_CALLBACKTYPE +{ + /** The EventHandler method is used to notify the application when an + event of interest occurs. Events are defined in the OMX_EVENTTYPE + enumeration. Please see that enumeration for details of what will + be returned for each type of event. Callbacks should not return + an error to the component, so if an error occurs, the application + shall handle it internally. This is a blocking call. + + The application should return from this call within 5 msec to avoid + blocking the component for an excessively long period of time. + + @param hComponent + handle of the component to access. This is the component + handle returned by the call to the GetHandle function. + @param pAppData + pointer to an application defined value that was provided in the + pAppData parameter to the OMX_GetHandle method for the component. + This application defined value is provided so that the application + can have a component specific context when receiving the callback. + @param eEvent + Event that the component wants to notify the application about. + @param nData1 + nData will be the OMX_ERRORTYPE for an error event and will be + an OMX_COMMANDTYPE for a command complete event and OMX_INDEXTYPE for a OMX_PortSettingsChanged event. + @param nData2 + nData2 will hold further information related to the event. Can be OMX_STATETYPE for + a OMX_CommandStateSet command or port index for a OMX_PortSettingsChanged event. + Default value is 0 if not used. ) + @param pEventData + Pointer to additional event-specific data (see spec for meaning). + */ + + OMX_ERRORTYPE (*EventHandler)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_PTR pAppData, + OMX_IN OMX_EVENTTYPE eEvent, + OMX_IN OMX_U32 nData1, + OMX_IN OMX_U32 nData2, + OMX_IN OMX_PTR pEventData); + + /** The EmptyBufferDone method is used to return emptied buffers from an + input port back to the application for reuse. This is a blocking call + so the application should not attempt to refill the buffers during this + call, but should queue them and refill them in another thread. There + is no error return, so the application shall handle any errors generated + internally. + + The application should return from this call within 5 msec. + + @param hComponent + handle of the component to access. This is the component + handle returned by the call to the GetHandle function. + @param pAppData + pointer to an application defined value that was provided in the + pAppData parameter to the OMX_GetHandle method for the component. + This application defined value is provided so that the application + can have a component specific context when receiving the callback. + @param pBuffer + pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer + or AllocateBuffer indicating the buffer that was emptied. + @ingroup buf + */ + OMX_ERRORTYPE (*EmptyBufferDone)( + OMX_IN OMX_HANDLETYPE hComponent, + OMX_IN OMX_PTR pAppData, + OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); + + /** The FillBufferDone method is used to return filled buffers from an + output port back to the application for emptying and then reuse. + This is a blocking call so the application should not attempt to + empty the buffers during this call, but should queue the buffers + and empty them in another thread. There is no error return, so + the application shall handle any errors generated internally. The + application shall also update the buffer header to indicate the + number of bytes placed into the buffer. + + The application should return from this call within 5 msec. + + @param hComponent + handle of the component to access. This is the component + handle returned by the call to the GetHandle function. + @param pAppData + pointer to an application defined value that was provided in the + pAppData parameter to the OMX_GetHandle method for the component. + This application defined value is provided so that the application + can have a component specific context when receiving the callback. + @param pBuffer + pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer + or AllocateBuffer indicating the buffer that was filled. + @ingroup buf + */ + OMX_ERRORTYPE (*FillBufferDone)( + OMX_OUT OMX_HANDLETYPE hComponent, + OMX_OUT OMX_PTR pAppData, + OMX_OUT OMX_BUFFERHEADERTYPE* pBuffer); + +} OMX_CALLBACKTYPE; + +/** The OMX_BUFFERSUPPLIERTYPE enumeration is used to dictate port supplier + preference when tunneling between two ports. + @ingroup tun buf +*/ +typedef enum OMX_BUFFERSUPPLIERTYPE +{ + OMX_BufferSupplyUnspecified = 0x0, /**< port supplying the buffers is unspecified, + or don't care */ + OMX_BufferSupplyInput, /**< input port supplies the buffers */ + OMX_BufferSupplyOutput, /**< output port supplies the buffers */ + OMX_BufferSupplyKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_BufferSupplyVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_BufferSupplyMax = 0x7FFFFFFF +} OMX_BUFFERSUPPLIERTYPE; + + +/** buffer supplier parameter + * @ingroup tun + */ +typedef struct OMX_PARAM_BUFFERSUPPLIERTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_BUFFERSUPPLIERTYPE eBufferSupplier; /**< buffer supplier */ +} OMX_PARAM_BUFFERSUPPLIERTYPE; + + +/**< indicates that buffers received by an input port of a tunnel + may not modify the data in the buffers + @ingroup tun + */ +#define OMX_PORTTUNNELFLAG_READONLY 0x00000001 + + +/** The OMX_TUNNELSETUPTYPE structure is used to pass data from an output + port to an input port as part the two ComponentTunnelRequest calls + resulting from a OMX_SetupTunnel call from the IL Client. + @ingroup tun + */ +typedef struct OMX_TUNNELSETUPTYPE +{ + OMX_U32 nTunnelFlags; /**< bit flags for tunneling */ + OMX_BUFFERSUPPLIERTYPE eSupplier; /**< supplier preference */ +} OMX_TUNNELSETUPTYPE; + +/* OMX Component headers is included to enable the core to use + macros for functions into the component for OMX release 1.0. + Developers should not access any structures or data from within + the component header directly */ +/* TO BE REMOVED - #include */ + +/** GetComponentVersion will return information about the component. + This is a blocking call. This macro will go directly from the + application to the component (via a core macro). The + component will return from this call within 5 msec. + @param [in] hComponent + handle of component to execute the command + @param [out] pComponentName + pointer to an empty string of length 128 bytes. The component + will write its name into this string. The name will be + terminated by a single zero byte. The name of a component will + be 127 bytes or less to leave room for the trailing zero byte. + An example of a valid component name is "OMX.ABC.ChannelMixer\0". + @param [out] pComponentVersion + pointer to an OMX Version structure that the component will fill + in. The component will fill in a value that indicates the + component version. NOTE: the component version is NOT the same + as the OMX Specification version (found in all structures). The + component version is defined by the vendor of the component and + its value is entirely up to the component vendor. + @param [out] pSpecVersion + pointer to an OMX Version structure that the component will fill + in. The SpecVersion is the version of the specification that the + component was built against. Please note that this value may or + may not match the structure's version. For example, if the + component was built against the 2.0 specification, but the + application (which creates the structure is built against the + 1.0 specification the versions would be different. + @param [out] pComponentUUID + pointer to the UUID of the component which will be filled in by + the component. The UUID is a unique identifier that is set at + RUN time for the component and is unique to each instantion of + the component. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_GetComponentVersion( \ + hComponent, \ + pComponentName, \ + pComponentVersion, \ + pSpecVersion, \ + pComponentUUID) \ + ((OMX_COMPONENTTYPE*)hComponent)->GetComponentVersion( \ + hComponent, \ + pComponentName, \ + pComponentVersion, \ + pSpecVersion, \ + pComponentUUID) /* Macro End */ + + +/** Send a command to the component. This call is a non-blocking call. + The component should check the parameters and then queue the command + to the component thread to be executed. The component thread shall + send the EventHandler() callback at the conclusion of the command. + This macro will go directly from the application to the component (via + a core macro). The component will return from this call within 5 msec. + + When the command is "OMX_CommandStateSet" the component will queue a + state transition to the new state idenfied in nParam. + + When the command is "OMX_CommandFlush", to flush a port's buffer queues, + the command will force the component to return all buffers NOT CURRENTLY + BEING PROCESSED to the application, in the order in which the buffers + were received. + + When the command is "OMX_CommandPortDisable" or + "OMX_CommandPortEnable", the component's port (given by the value of + nParam) will be stopped or restarted. + + When the command "OMX_CommandMarkBuffer" is used to mark a buffer, the + pCmdData will point to a OMX_MARKTYPE structure containing the component + handle of the component to examine the buffer chain for the mark. nParam1 + contains the index of the port on which the buffer mark is applied. + + Specification text for more details. + + @param [in] hComponent + handle of component to execute the command + @param [in] Cmd + Command for the component to execute + @param [in] nParam + Parameter for the command to be executed. When Cmd has the value + OMX_CommandStateSet, value is a member of OMX_STATETYPE. When Cmd has + the value OMX_CommandFlush, value of nParam indicates which port(s) + to flush. -1 is used to flush all ports a single port index will + only flush that port. When Cmd has the value "OMX_CommandPortDisable" + or "OMX_CommandPortEnable", the component's port is given by + the value of nParam. When Cmd has the value "OMX_CommandMarkBuffer" + the components pot is given by the value of nParam. + @param [in] pCmdData + Parameter pointing to the OMX_MARKTYPE structure when Cmd has the value + "OMX_CommandMarkBuffer". + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_SendCommand( \ + hComponent, \ + Cmd, \ + nParam, \ + pCmdData) \ + ((OMX_COMPONENTTYPE*)hComponent)->SendCommand( \ + hComponent, \ + Cmd, \ + nParam, \ + pCmdData) /* Macro End */ + + +/** The OMX_GetParameter macro will get one of the current parameter + settings from the component. This macro cannot only be invoked when + the component is in the OMX_StateInvalid state. The nParamIndex + parameter is used to indicate which structure is being requested from + the component. The application shall allocate the correct structure + and shall fill in the structure size and version information before + invoking this macro. When the parameter applies to a port, the + caller shall fill in the appropriate nPortIndex value indicating the + port on which the parameter applies. If the component has not had + any settings changed, then the component should return a set of + valid DEFAULT parameters for the component. This is a blocking + call. + + The component should return from this call within 20 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] nParamIndex + Index of the structure to be filled. This value is from the + OMX_INDEXTYPE enumeration. + @param [in,out] pComponentParameterStructure + Pointer to application allocated structure to be filled by the + component. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_GetParameter( \ + hComponent, \ + nParamIndex, \ + pComponentParameterStructure) \ + ((OMX_COMPONENTTYPE*)hComponent)->GetParameter( \ + hComponent, \ + nParamIndex, \ + pComponentParameterStructure) /* Macro End */ + + +/** The OMX_SetParameter macro will send an initialization parameter + structure to a component. Each structure shall be sent one at a time, + in a separate invocation of the macro. This macro can only be + invoked when the component is in the OMX_StateLoaded state, or the + port is disabled (when the parameter applies to a port). The + nParamIndex parameter is used to indicate which structure is being + passed to the component. The application shall allocate the + correct structure and shall fill in the structure size and version + information (as well as the actual data) before invoking this macro. + The application is free to dispose of this structure after the call + as the component is required to copy any data it shall retain. This + is a blocking call. + + The component should return from this call within 20 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] nIndex + Index of the structure to be sent. This value is from the + OMX_INDEXTYPE enumeration. + @param [in] pComponentParameterStructure + pointer to application allocated structure to be used for + initialization by the component. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_SetParameter( \ + hComponent, \ + nParamIndex, \ + pComponentParameterStructure) \ + ((OMX_COMPONENTTYPE*)hComponent)->SetParameter( \ + hComponent, \ + nParamIndex, \ + pComponentParameterStructure) /* Macro End */ + + +/** The OMX_GetConfig macro will get one of the configuration structures + from a component. This macro can be invoked anytime after the + component has been loaded. The nParamIndex call parameter is used to + indicate which structure is being requested from the component. The + application shall allocate the correct structure and shall fill in the + structure size and version information before invoking this macro. + If the component has not had this configuration parameter sent before, + then the component should return a set of valid DEFAULT values for the + component. This is a blocking call. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] nIndex + Index of the structure to be filled. This value is from the + OMX_INDEXTYPE enumeration. + @param [in,out] pComponentConfigStructure + pointer to application allocated structure to be filled by the + component. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp +*/ +#define OMX_GetConfig( \ + hComponent, \ + nConfigIndex, \ + pComponentConfigStructure) \ + ((OMX_COMPONENTTYPE*)hComponent)->GetConfig( \ + hComponent, \ + nConfigIndex, \ + pComponentConfigStructure) /* Macro End */ + + +/** The OMX_SetConfig macro will send one of the configuration + structures to a component. Each structure shall be sent one at a time, + each in a separate invocation of the macro. This macro can be invoked + anytime after the component has been loaded. The application shall + allocate the correct structure and shall fill in the structure size + and version information (as well as the actual data) before invoking + this macro. The application is free to dispose of this structure after + the call as the component is required to copy any data it shall retain. + This is a blocking call. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] nConfigIndex + Index of the structure to be sent. This value is from the + OMX_INDEXTYPE enumeration above. + @param [in] pComponentConfigStructure + pointer to application allocated structure to be used for + initialization by the component. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_SetConfig( \ + hComponent, \ + nConfigIndex, \ + pComponentConfigStructure) \ + ((OMX_COMPONENTTYPE*)hComponent)->SetConfig( \ + hComponent, \ + nConfigIndex, \ + pComponentConfigStructure) /* Macro End */ + + +/** The OMX_GetExtensionIndex macro will invoke a component to translate + a vendor specific configuration or parameter string into an OMX + structure index. There is no requirement for the vendor to support + this command for the indexes already found in the OMX_INDEXTYPE + enumeration (this is done to save space in small components). The + component shall support all vendor supplied extension indexes not found + in the master OMX_INDEXTYPE enumeration. This is a blocking call. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the GetHandle function. + @param [in] cParameterName + OMX_STRING that shall be less than 128 characters long including + the trailing null byte. This is the string that will get + translated by the component into a configuration index. + @param [out] pIndexType + a pointer to a OMX_INDEXTYPE to receive the index value. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_GetExtensionIndex( \ + hComponent, \ + cParameterName, \ + pIndexType) \ + ((OMX_COMPONENTTYPE*)hComponent)->GetExtensionIndex( \ + hComponent, \ + cParameterName, \ + pIndexType) /* Macro End */ + + +/** The OMX_GetState macro will invoke the component to get the current + state of the component and place the state value into the location + pointed to by pState. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [out] pState + pointer to the location to receive the state. The value returned + is one of the OMX_STATETYPE members + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp + */ +#define OMX_GetState( \ + hComponent, \ + pState) \ + ((OMX_COMPONENTTYPE*)hComponent)->GetState( \ + hComponent, \ + pState) /* Macro End */ + + +/** The OMX_UseBuffer macro will request that the component use + a buffer (and allocate its own buffer header) already allocated + by another component, or by the IL Client. This is a blocking + call. + + The component should return from this call within 20 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [out] ppBuffer + pointer to an OMX_BUFFERHEADERTYPE structure used to receive the + pointer to the buffer header + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp buf + */ + +#define OMX_UseBuffer( \ + hComponent, \ + ppBufferHdr, \ + nPortIndex, \ + pAppPrivate, \ + nSizeBytes, \ + pBuffer) \ + ((OMX_COMPONENTTYPE*)hComponent)->UseBuffer( \ + hComponent, \ + ppBufferHdr, \ + nPortIndex, \ + pAppPrivate, \ + nSizeBytes, \ + pBuffer) + + +/** The OMX_AllocateBuffer macro will request that the component allocate + a new buffer and buffer header. The component will allocate the + buffer and the buffer header and return a pointer to the buffer + header. This is a blocking call. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [out] ppBuffer + pointer to an OMX_BUFFERHEADERTYPE structure used to receive + the pointer to the buffer header + @param [in] nPortIndex + nPortIndex is used to select the port on the component the buffer will + be used with. The port can be found by using the nPortIndex + value as an index into the Port Definition array of the component. + @param [in] pAppPrivate + pAppPrivate is used to initialize the pAppPrivate member of the + buffer header structure. + @param [in] nSizeBytes + size of the buffer to allocate. Used when bAllocateNew is true. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp buf + */ +#define OMX_AllocateBuffer( \ + hComponent, \ + ppBuffer, \ + nPortIndex, \ + pAppPrivate, \ + nSizeBytes) \ + ((OMX_COMPONENTTYPE*)hComponent)->AllocateBuffer( \ + hComponent, \ + ppBuffer, \ + nPortIndex, \ + pAppPrivate, \ + nSizeBytes) /* Macro End */ + + +/** The OMX_FreeBuffer macro will release a buffer header from the component + which was allocated using either OMX_AllocateBuffer or OMX_UseBuffer. If + the component allocated the buffer (see the OMX_UseBuffer macro) then + the component shall free the buffer and buffer header. This is a + blocking call. + + The component should return from this call within 20 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] nPortIndex + nPortIndex is used to select the port on the component the buffer will + be used with. + @param [in] pBuffer + pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer + or AllocateBuffer. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp buf + */ +#define OMX_FreeBuffer( \ + hComponent, \ + nPortIndex, \ + pBuffer) \ + ((OMX_COMPONENTTYPE*)hComponent)->FreeBuffer( \ + hComponent, \ + nPortIndex, \ + pBuffer) /* Macro End */ + + +/** The OMX_EmptyThisBuffer macro will send a buffer full of data to an + input port of a component. The buffer will be emptied by the component + and returned to the application via the EmptyBufferDone call back. + This is a non-blocking call in that the component will record the buffer + and return immediately and then empty the buffer, later, at the proper + time. As expected, this macro may be invoked only while the component + is in the OMX_StateExecuting. If nPortIndex does not specify an input + port, the component shall return an error. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] pBuffer + pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer + or AllocateBuffer. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp buf + */ +#define OMX_EmptyThisBuffer( \ + hComponent, \ + pBuffer) \ + ((OMX_COMPONENTTYPE*)hComponent)->EmptyThisBuffer( \ + hComponent, \ + pBuffer) /* Macro End */ + + +/** The OMX_FillThisBuffer macro will send an empty buffer to an + output port of a component. The buffer will be filled by the component + and returned to the application via the FillBufferDone call back. + This is a non-blocking call in that the component will record the buffer + and return immediately and then fill the buffer, later, at the proper + time. As expected, this macro may be invoked only while the component + is in the OMX_ExecutingState. If nPortIndex does not specify an output + port, the component shall return an error. + + The component should return from this call within 5 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [in] pBuffer + pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer + or AllocateBuffer. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp buf + */ +#define OMX_FillThisBuffer( \ + hComponent, \ + pBuffer) \ + ((OMX_COMPONENTTYPE*)hComponent)->FillThisBuffer( \ + hComponent, \ + pBuffer) /* Macro End */ + + + +/** The OMX_UseEGLImage macro will request that the component use + a EGLImage provided by EGL (and allocate its own buffer header) + This is a blocking call. + + The component should return from this call within 20 msec. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the OMX_GetHandle function. + @param [out] ppBuffer + pointer to an OMX_BUFFERHEADERTYPE structure used to receive the + pointer to the buffer header. Note that the memory location used + for this buffer is NOT visible to the IL Client. + @param [in] nPortIndex + nPortIndex is used to select the port on the component the buffer will + be used with. The port can be found by using the nPortIndex + value as an index into the Port Definition array of the component. + @param [in] pAppPrivate + pAppPrivate is used to initialize the pAppPrivate member of the + buffer header structure. + @param [in] eglImage + eglImage contains the handle of the EGLImage to use as a buffer on the + specified port. The component is expected to validate properties of + the EGLImage against the configuration of the port to ensure the component + can use the EGLImage as a buffer. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup comp buf + */ +#define OMX_UseEGLImage( \ + hComponent, \ + ppBufferHdr, \ + nPortIndex, \ + pAppPrivate, \ + eglImage) \ + ((OMX_COMPONENTTYPE*)hComponent)->UseEGLImage( \ + hComponent, \ + ppBufferHdr, \ + nPortIndex, \ + pAppPrivate, \ + eglImage) + +/** The OMX_Init method is used to initialize the OMX core. It shall be the + first call made into OMX and it should only be executed one time without + an interviening OMX_Deinit call. + + The core should return from this call within 20 msec. + + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_Init(void); + + +/** The OMX_Deinit method is used to deinitialize the OMX core. It shall be + the last call made into OMX. In the event that the core determines that + thare are components loaded when this call is made, the core may return + with an error rather than try to unload the components. + + The core should return from this call within 20 msec. + + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_Deinit(void); + + +/** The OMX_ComponentNameEnum method will enumerate through all the names of + recognised valid components in the system. This function is provided + as a means to detect all the components in the system run-time. There is + no strict ordering to the enumeration order of component names, although + each name will only be enumerated once. If the OMX core supports run-time + installation of new components, it is only requried to detect newly + installed components when the first call to enumerate component names + is made (i.e. when nIndex is 0x0). + + The core should return from this call in 20 msec. + + @param [out] cComponentName + pointer to a null terminated string with the component name. The + names of the components are strings less than 127 bytes in length + plus the trailing null for a maximum size of 128 bytes. An example + of a valid component name is "OMX.TI.AUDIO.DSP.MIXER\0". Names are + assigned by the vendor, but shall start with "OMX." and then have + the Vendor designation next. + @param [in] nNameLength + number of characters in the cComponentName string. With all + component name strings restricted to less than 128 characters + (including the trailing null) it is recomended that the caller + provide a input string for the cComponentName of 128 characters. + @param [in] nIndex + number containing the enumeration index for the component. + Multiple calls to OMX_ComponentNameEnum with increasing values + of nIndex will enumerate through the component names in the + system until OMX_ErrorNoMore is returned. The value of nIndex + is 0 to (N-1), where N is the number of valid installed components + in the system. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. When the value of nIndex exceeds the number of + components in the system minus 1, OMX_ErrorNoMore will be + returned. Otherwise the appropriate OMX error will be returned. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_ComponentNameEnum( + OMX_OUT OMX_STRING cComponentName, + OMX_IN OMX_U32 nNameLength, + OMX_IN OMX_U32 nIndex); + + +/** The OMX_GetHandle method will locate the component specified by the + component name given, load that component into memory and then invoke + the component's methods to create an instance of the component. + + The core should return from this call within 20 msec. + + @param [out] pHandle + pointer to an OMX_HANDLETYPE pointer to be filled in by this method. + @param [in] cComponentName + pointer to a null terminated string with the component name. The + names of the components are strings less than 127 bytes in length + plus the trailing null for a maximum size of 128 bytes. An example + of a valid component name is "OMX.TI.AUDIO.DSP.MIXER\0". Names are + assigned by the vendor, but shall start with "OMX." and then have + the Vendor designation next. + @param [in] pAppData + pointer to an application defined value that will be returned + during callbacks so that the application can identify the source + of the callback. + @param [in] pCallBacks + pointer to a OMX_CALLBACKTYPE structure that will be passed to the + component to initialize it with. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_GetHandle( + OMX_OUT OMX_HANDLETYPE* pHandle, + OMX_IN OMX_STRING cComponentName, + OMX_IN OMX_PTR pAppData, + OMX_IN OMX_CALLBACKTYPE* pCallBacks); + + +/** The OMX_FreeHandle method will free a handle allocated by the OMX_GetHandle + method. If the component reference count goes to zero, the component will + be unloaded from memory. + + The core should return from this call within 20 msec when the component is + in the OMX_StateLoaded state. + + @param [in] hComponent + Handle of the component to be accessed. This is the component + handle returned by the call to the GetHandle function. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_FreeHandle( + OMX_IN OMX_HANDLETYPE hComponent); + + + +/** The OMX_SetupTunnel method will handle the necessary calls to the components + to setup the specified tunnel the two components. NOTE: This is + an actual method (not a #define macro). This method will make calls into + the component ComponentTunnelRequest method to do the actual tunnel + connection. + + The ComponentTunnelRequest method on both components will be called. + This method shall not be called unless the component is in the + OMX_StateLoaded state except when the ports used for the tunnel are + disabled. In this case, the component may be in the OMX_StateExecuting, + OMX_StatePause, or OMX_StateIdle states. + + The core should return from this call within 20 msec. + + @param [in] hOutput + Handle of the component to be accessed. Also this is the handle + of the component whose port, specified in the nPortOutput parameter + will be used the source for the tunnel. This is the component handle + returned by the call to the OMX_GetHandle function. There is a + requirement that hOutput be the source for the data when + tunelling (i.e. nPortOutput is an output port). If 0x0, the component + specified in hInput will have it's port specified in nPortInput + setup for communication with the application / IL client. + @param [in] nPortOutput + nPortOutput is used to select the source port on component to be + used in the tunnel. + @param [in] hInput + This is the component to setup the tunnel with. This is the handle + of the component whose port, specified in the nPortInput parameter + will be used the destination for the tunnel. This is the component handle + returned by the call to the OMX_GetHandle function. There is a + requirement that hInput be the destination for the data when + tunelling (i.e. nPortInut is an input port). If 0x0, the component + specified in hOutput will have it's port specified in nPortPOutput + setup for communication with the application / IL client. + @param [in] nPortInput + nPortInput is used to select the destination port on component to be + used in the tunnel. + @return OMX_ERRORTYPE + If the command successfully executes, the return code will be + OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. + When OMX_ErrorNotImplemented is returned, one or both components is + a non-interop component and does not support tunneling. + + On failure, the ports of both components are setup for communication + with the application / IL Client. + @ingroup core tun + */ +OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_SetupTunnel( + OMX_IN OMX_HANDLETYPE hOutput, + OMX_IN OMX_U32 nPortOutput, + OMX_IN OMX_HANDLETYPE hInput, + OMX_IN OMX_U32 nPortInput); + +/** @ingroup cp */ +OMX_API OMX_ERRORTYPE OMX_GetContentPipe( + OMX_OUT OMX_HANDLETYPE *hPipe, + OMX_IN OMX_STRING szURI); + +/** The OMX_GetComponentsOfRole method will return the number of components that support the given + role and (if the compNames field is non-NULL) the names of those components. The call will fail if + an insufficiently sized array of names is supplied. To ensure the array is sufficiently sized the + client should: + * first call this function with the compNames field NULL to determine the number of component names + * second call this function with the compNames field pointing to an array of names allocated + according to the number returned by the first call. + + The core should return from this call within 5 msec. + + @param [in] role + This is generic standard component name consisting only of component class + name and the type within that class (e.g. 'audio_decoder.aac'). + @param [inout] pNumComps + This is used both as input and output. + + If compNames is NULL, the input is ignored and the output specifies how many components support + the given role. + + If compNames is not NULL, on input it bounds the size of the input structure and + on output, it specifies the number of components string names listed within the compNames parameter. + @param [inout] compNames + If NULL this field is ignored. If non-NULL this points to an array of 128-byte strings which accepts + a list of the names of all physical components that implement the specified standard component name. + Each name is NULL terminated. numComps indicates the number of names. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_GetComponentsOfRole ( + OMX_IN OMX_STRING role, + OMX_INOUT OMX_U32 *pNumComps, + OMX_INOUT OMX_U8 **compNames); + +/** The OMX_GetRolesOfComponent method will return the number of roles supported by the given + component and (if the roles field is non-NULL) the names of those roles. The call will fail if + an insufficiently sized array of names is supplied. To ensure the array is sufficiently sized the + client should: + * first call this function with the roles field NULL to determine the number of role names + * second call this function with the roles field pointing to an array of names allocated + according to the number returned by the first call. + + The core should return from this call within 5 msec. + + @param [in] compName + This is the name of the component being queried about. + @param [inout] pNumRoles + This is used both as input and output. + + If roles is NULL, the input is ignored and the output specifies how many roles the component supports. + + If compNames is not NULL, on input it bounds the size of the input structure and + on output, it specifies the number of roles string names listed within the roles parameter. + @param [out] roles + If NULL this field is ignored. If non-NULL this points to an array of 128-byte strings + which accepts a list of the names of all standard components roles implemented on the + specified component name. numComps indicates the number of names. + @ingroup core + */ +OMX_API OMX_ERRORTYPE OMX_GetRolesOfComponent ( + OMX_IN OMX_STRING compName, + OMX_INOUT OMX_U32 *pNumRoles, + OMX_OUT OMX_U8 **roles); + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ + diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_CoreExt.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_CoreExt.h new file mode 100644 index 000000000..3ec14b05f --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_CoreExt.h @@ -0,0 +1,66 @@ +/* + * Copyright (c) 2009 The Khronos Group 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. + * + */ + +/** OMX_CoreExt.h - OpenMax IL version 1.1.2 + * The OMX_CoreExt header file contains extensions to the definitions used + * by both the application and the component to access common items. + */ + +#ifndef OMX_CoreExt_h +#define OMX_CoreExt_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/* Each OMX header shall include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ +#include + + +/** Event type extensions. */ +typedef enum OMX_EVENTEXTTYPE +{ + OMX_EventIndexSettingChanged = OMX_EventKhronosExtensions, /**< component signals the IL client of a change + in a param, config, or extension */ + OMX_EventExtMax = 0x7FFFFFFF +} OMX_EVENTEXTTYPE; + + +/** Enable or disable a callback event. */ +typedef struct OMX_CONFIG_CALLBACKREQUESTTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_INDEXTYPE nIndex; /**< the index the callback is requested for */ + OMX_BOOL bEnable; /**< enable (OMX_TRUE) or disable (OMX_FALSE) the callback */ +} OMX_CONFIG_CALLBACKREQUESTTYPE; + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* OMX_CoreExt_h */ +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_IVCommon.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_IVCommon.h new file mode 100644 index 000000000..ec717565a --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_IVCommon.h @@ -0,0 +1,933 @@ +/** + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** + * @file OMX_IVCommon.h - OpenMax IL version 1.1.2 + * The structures needed by Video and Image components to exchange + * parameters and configuration data with the components. + */ +#ifndef OMX_IVCommon_h +#define OMX_IVCommon_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** + * Each OMX header must include all required header files to allow the header + * to compile without errors. The includes below are required for this header + * file to compile successfully + */ + +#include + +/** @defgroup iv OpenMAX IL Imaging and Video Domain + * Common structures for OpenMAX IL Imaging and Video domains + * @{ + */ + + +/** + * Enumeration defining possible uncompressed image/video formats. + * + * ENUMS: + * Unused : Placeholder value when format is N/A + * Monochrome : black and white + * 8bitRGB332 : Red 7:5, Green 4:2, Blue 1:0 + * 12bitRGB444 : Red 11:8, Green 7:4, Blue 3:0 + * 16bitARGB4444 : Alpha 15:12, Red 11:8, Green 7:4, Blue 3:0 + * 16bitARGB1555 : Alpha 15, Red 14:10, Green 9:5, Blue 4:0 + * 16bitRGB565 : Red 15:11, Green 10:5, Blue 4:0 + * 16bitBGR565 : Blue 15:11, Green 10:5, Red 4:0 + * 18bitRGB666 : Red 17:12, Green 11:6, Blue 5:0 + * 18bitARGB1665 : Alpha 17, Red 16:11, Green 10:5, Blue 4:0 + * 19bitARGB1666 : Alpha 18, Red 17:12, Green 11:6, Blue 5:0 + * 24bitRGB888 : Red 24:16, Green 15:8, Blue 7:0 + * 24bitBGR888 : Blue 24:16, Green 15:8, Red 7:0 + * 24bitARGB1887 : Alpha 23, Red 22:15, Green 14:7, Blue 6:0 + * 25bitARGB1888 : Alpha 24, Red 23:16, Green 15:8, Blue 7:0 + * 32bitBGRA8888 : Blue 31:24, Green 23:16, Red 15:8, Alpha 7:0 + * 32bitARGB8888 : Alpha 31:24, Red 23:16, Green 15:8, Blue 7:0 + * YUV411Planar : U,Y are subsampled by a factor of 4 horizontally + * YUV411PackedPlanar : packed per payload in planar slices + * YUV420Planar : Three arrays Y,U,V. + * YUV420PackedPlanar : packed per payload in planar slices + * YUV420SemiPlanar : Two arrays, one is all Y, the other is U and V + * YUV422Planar : Three arrays Y,U,V. + * YUV422PackedPlanar : packed per payload in planar slices + * YUV422SemiPlanar : Two arrays, one is all Y, the other is U and V + * YCbYCr : Organized as 16bit YUYV (i.e. YCbYCr) + * YCrYCb : Organized as 16bit YVYU (i.e. YCrYCb) + * CbYCrY : Organized as 16bit UYVY (i.e. CbYCrY) + * CrYCbY : Organized as 16bit VYUY (i.e. CrYCbY) + * YUV444Interleaved : Each pixel contains equal parts YUV + * RawBayer8bit : SMIA camera output format + * RawBayer10bit : SMIA camera output format + * RawBayer8bitcompressed : SMIA camera output format + */ +typedef enum OMX_COLOR_FORMATTYPE { + OMX_COLOR_FormatUnused, + OMX_COLOR_FormatMonochrome, + OMX_COLOR_Format8bitRGB332, + OMX_COLOR_Format12bitRGB444, + OMX_COLOR_Format16bitARGB4444, + OMX_COLOR_Format16bitARGB1555, + OMX_COLOR_Format16bitRGB565, + OMX_COLOR_Format16bitBGR565, + OMX_COLOR_Format18bitRGB666, + OMX_COLOR_Format18bitARGB1665, + OMX_COLOR_Format19bitARGB1666, + OMX_COLOR_Format24bitRGB888, + OMX_COLOR_Format24bitBGR888, + OMX_COLOR_Format24bitARGB1887, + OMX_COLOR_Format25bitARGB1888, + OMX_COLOR_Format32bitBGRA8888, + OMX_COLOR_Format32bitARGB8888, + OMX_COLOR_FormatYUV411Planar, + OMX_COLOR_FormatYUV411PackedPlanar, + OMX_COLOR_FormatYUV420Planar, + OMX_COLOR_FormatYUV420PackedPlanar, + OMX_COLOR_FormatYUV420SemiPlanar, + OMX_COLOR_FormatYUV422Planar, + OMX_COLOR_FormatYUV422PackedPlanar, + OMX_COLOR_FormatYUV422SemiPlanar, + OMX_COLOR_FormatYCbYCr, + OMX_COLOR_FormatYCrYCb, + OMX_COLOR_FormatCbYCrY, + OMX_COLOR_FormatCrYCbY, + OMX_COLOR_FormatYUV444Interleaved, + OMX_COLOR_FormatRawBayer8bit, + OMX_COLOR_FormatRawBayer10bit, + OMX_COLOR_FormatRawBayer8bitcompressed, + OMX_COLOR_FormatL2, + OMX_COLOR_FormatL4, + OMX_COLOR_FormatL8, + OMX_COLOR_FormatL16, + OMX_COLOR_FormatL24, + OMX_COLOR_FormatL32, + OMX_COLOR_FormatYUV420PackedSemiPlanar, + OMX_COLOR_FormatYUV422PackedSemiPlanar, + OMX_COLOR_Format18BitBGR666, + OMX_COLOR_Format24BitARGB6666, + OMX_COLOR_Format24BitABGR6666, + OMX_COLOR_FormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_COLOR_FormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + /** + +/** @defgroup imaging OpenMAX IL Imaging Domain + * @ingroup iv + * Structures for OpenMAX IL Imaging domain + * @{ + */ + +/** + * Enumeration used to define the possible image compression coding. + */ +typedef enum OMX_IMAGE_CODINGTYPE { + OMX_IMAGE_CodingUnused, /**< Value when format is N/A */ + OMX_IMAGE_CodingAutoDetect, /**< Auto detection of image format */ + OMX_IMAGE_CodingJPEG, /**< JPEG/JFIF image format */ + OMX_IMAGE_CodingJPEG2K, /**< JPEG 2000 image format */ + OMX_IMAGE_CodingEXIF, /**< EXIF image format */ + OMX_IMAGE_CodingTIFF, /**< TIFF image format */ + OMX_IMAGE_CodingGIF, /**< Graphics image format */ + OMX_IMAGE_CodingPNG, /**< PNG image format */ + OMX_IMAGE_CodingLZW, /**< LZW image format */ + OMX_IMAGE_CodingBMP, /**< Windows Bitmap format */ + OMX_IMAGE_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_IMAGE_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_IMAGE_CodingMax = 0x7FFFFFFF +} OMX_IMAGE_CODINGTYPE; + + +/** + * Data structure used to define an image path. The number of image paths + * for input and output will vary by type of the image component. + * + * Input (aka Source) : Zero Inputs, one Output, + * Splitter : One Input, 2 or more Outputs, + * Processing Element : One Input, one output, + * Mixer : 2 or more inputs, one output, + * Output (aka Sink) : One Input, zero outputs. + * + * The PortDefinition structure is used to define all of the parameters + * necessary for the compliant component to setup an input or an output + * image path. If additional vendor specific data is required, it should + * be transmitted to the component using the CustomCommand function. + * Compliant components will prepopulate this structure with optimal + * values during the OMX_GetParameter() command. + * + * STRUCT MEMBERS: + * cMIMEType : MIME type of data for the port + * pNativeRender : Platform specific reference for a display if a + * sync, otherwise this field is 0 + * nFrameWidth : Width of frame to be used on port if + * uncompressed format is used. Use 0 for + * unknown, don't care or variable + * nFrameHeight : Height of frame to be used on port if + * uncompressed format is used. Use 0 for + * unknown, don't care or variable + * nStride : Number of bytes per span of an image (i.e. + * indicates the number of bytes to get from + * span N to span N+1, where negative stride + * indicates the image is bottom up + * nSliceHeight : Height used when encoding in slices + * bFlagErrorConcealment : Turns on error concealment if it is supported by + * the OMX component + * eCompressionFormat : Compression format used in this instance of + * the component. When OMX_IMAGE_CodingUnused is + * specified, eColorFormat is valid + * eColorFormat : Decompressed format used by this component + * pNativeWindow : Platform specific reference for a window object if a + * display sink , otherwise this field is 0x0. + */ +typedef struct OMX_IMAGE_PORTDEFINITIONTYPE { + OMX_STRING cMIMEType; + OMX_NATIVE_DEVICETYPE pNativeRender; + OMX_U32 nFrameWidth; + OMX_U32 nFrameHeight; + OMX_S32 nStride; + OMX_U32 nSliceHeight; + OMX_BOOL bFlagErrorConcealment; + OMX_IMAGE_CODINGTYPE eCompressionFormat; + OMX_COLOR_FORMATTYPE eColorFormat; + OMX_NATIVE_WINDOWTYPE pNativeWindow; +} OMX_IMAGE_PORTDEFINITIONTYPE; + + +/** + * Port format parameter. This structure is used to enumerate the various + * data input/output format supported by the port. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Indicates which port to set + * nIndex : Indicates the enumeration index for the format from + * 0x0 to N-1 + * eCompressionFormat : Compression format used in this instance of the + * component. When OMX_IMAGE_CodingUnused is specified, + * eColorFormat is valid + * eColorFormat : Decompressed format used by this component + */ +typedef struct OMX_IMAGE_PARAM_PORTFORMATTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nIndex; + OMX_IMAGE_CODINGTYPE eCompressionFormat; + OMX_COLOR_FORMATTYPE eColorFormat; +} OMX_IMAGE_PARAM_PORTFORMATTYPE; + + +/** + * Flash control type + * + * ENUMS + * Torch : Flash forced constantly on + */ +typedef enum OMX_IMAGE_FLASHCONTROLTYPE { + OMX_IMAGE_FlashControlOn = 0, + OMX_IMAGE_FlashControlOff, + OMX_IMAGE_FlashControlAuto, + OMX_IMAGE_FlashControlRedEyeReduction, + OMX_IMAGE_FlashControlFillin, + OMX_IMAGE_FlashControlTorch, + OMX_IMAGE_FlashControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_IMAGE_FlashControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_IMAGE_FlashControlMax = 0x7FFFFFFF +} OMX_IMAGE_FLASHCONTROLTYPE; + + +/** + * Flash control configuration + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFlashControl : Flash control type + */ +typedef struct OMX_IMAGE_PARAM_FLASHCONTROLTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_IMAGE_FLASHCONTROLTYPE eFlashControl; +} OMX_IMAGE_PARAM_FLASHCONTROLTYPE; + + +/** + * Focus control type + */ +typedef enum OMX_IMAGE_FOCUSCONTROLTYPE { + OMX_IMAGE_FocusControlOn = 0, + OMX_IMAGE_FocusControlOff, + OMX_IMAGE_FocusControlAuto, + OMX_IMAGE_FocusControlAutoLock, + OMX_IMAGE_FocusControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_IMAGE_FocusControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_IMAGE_FocusControlMax = 0x7FFFFFFF +} OMX_IMAGE_FOCUSCONTROLTYPE; + + +/** + * Focus control configuration + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFocusControl : Focus control + * nFocusSteps : Focus can take on values from 0 mm to infinity. + * Interest is only in number of steps over this range. + * nFocusStepIndex : Current focus step index + */ +typedef struct OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_IMAGE_FOCUSCONTROLTYPE eFocusControl; + OMX_U32 nFocusSteps; + OMX_U32 nFocusStepIndex; +} OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE; + + +/** + * Q Factor for JPEG compression, which controls the tradeoff between image + * quality and size. Q Factor provides a more simple means of controlling + * JPEG compression quality, without directly programming Quantization + * tables for chroma and luma + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nQFactor : JPEG Q factor value in the range of 1-100. A factor of 1 + * produces the smallest, worst quality images, and a factor + * of 100 produces the largest, best quality images. A + * typical default is 75 for small good quality images + */ +typedef struct OMX_IMAGE_PARAM_QFACTORTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nQFactor; +} OMX_IMAGE_PARAM_QFACTORTYPE; + +/** + * Quantization table type + */ + +typedef enum OMX_IMAGE_QUANTIZATIONTABLETYPE { + OMX_IMAGE_QuantizationTableLuma = 0, + OMX_IMAGE_QuantizationTableChroma, + OMX_IMAGE_QuantizationTableChromaCb, + OMX_IMAGE_QuantizationTableChromaCr, + OMX_IMAGE_QuantizationTableKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_IMAGE_QuantizationTableVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_IMAGE_QuantizationTableMax = 0x7FFFFFFF +} OMX_IMAGE_QUANTIZATIONTABLETYPE; + +/** + * JPEG quantization tables are used to determine DCT compression for + * YUV data, as an alternative to specifying Q factor, providing exact + * control of compression + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eQuantizationTable : Quantization table type + * nQuantizationMatrix[64] : JPEG quantization table of coefficients stored + * in increasing columns then by rows of data (i.e. + * row 1, ... row 8). Quantization values are in + * the range 0-255 and stored in linear order + * (i.e. the component will zig-zag the + * quantization table data if required internally) + */ +typedef struct OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_IMAGE_QUANTIZATIONTABLETYPE eQuantizationTable; + OMX_U8 nQuantizationMatrix[64]; +} OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE; + + +/** + * Huffman table type, the same Huffman table is applied for chroma and + * luma component + */ +typedef enum OMX_IMAGE_HUFFMANTABLETYPE { + OMX_IMAGE_HuffmanTableAC = 0, + OMX_IMAGE_HuffmanTableDC, + OMX_IMAGE_HuffmanTableACLuma, + OMX_IMAGE_HuffmanTableACChroma, + OMX_IMAGE_HuffmanTableDCLuma, + OMX_IMAGE_HuffmanTableDCChroma, + OMX_IMAGE_HuffmanTableKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_IMAGE_HuffmanTableVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_IMAGE_HuffmanTableMax = 0x7FFFFFFF +} OMX_IMAGE_HUFFMANTABLETYPE; + +/** + * JPEG Huffman table + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eHuffmanTable : Huffman table type + * nNumberOfHuffmanCodeOfLength[16] : 0-16, number of Huffman codes of each + * possible length + * nHuffmanTable[256] : 0-255, the size used for AC and DC + * HuffmanTable are 16 and 162 + */ +typedef struct OMX_IMAGE_PARAM_HUFFMANTTABLETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_IMAGE_HUFFMANTABLETYPE eHuffmanTable; + OMX_U8 nNumberOfHuffmanCodeOfLength[16]; + OMX_U8 nHuffmanTable[256]; +}OMX_IMAGE_PARAM_HUFFMANTTABLETYPE; + +/** @} */ +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Index.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Index.h new file mode 100644 index 000000000..a1f17487d --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Index.h @@ -0,0 +1,259 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** @file OMX_Index.h - OpenMax IL version 1.1.2 + * The OMX_Index header file contains the definitions for both applications + * and components . + */ + + +#ifndef OMX_Index_h +#define OMX_Index_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +/* Each OMX header must include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ +#include + + +/** The OMX_INDEXTYPE enumeration is used to select a structure when either + * getting or setting parameters and/or configuration data. Each entry in + * this enumeration maps to an OMX specified structure. When the + * OMX_GetParameter, OMX_SetParameter, OMX_GetConfig or OMX_SetConfig methods + * are used, the second parameter will always be an entry from this enumeration + * and the third entry will be the structure shown in the comments for the entry. + * For example, if the application is initializing a cropping function, the + * OMX_SetConfig command would have OMX_IndexConfigCommonInputCrop as the second parameter + * and would send a pointer to an initialized OMX_RECTTYPE structure as the + * third parameter. + * + * The enumeration entries named with the OMX_Config prefix are sent using + * the OMX_SetConfig command and the enumeration entries named with the + * OMX_PARAM_ prefix are sent using the OMX_SetParameter command. + */ +typedef enum OMX_INDEXTYPE { + + OMX_IndexComponentStartUnused = 0x01000000, + OMX_IndexParamPriorityMgmt, /**< reference: OMX_PRIORITYMGMTTYPE */ + OMX_IndexParamAudioInit, /**< reference: OMX_PORT_PARAM_TYPE */ + OMX_IndexParamImageInit, /**< reference: OMX_PORT_PARAM_TYPE */ + OMX_IndexParamVideoInit, /**< reference: OMX_PORT_PARAM_TYPE */ + OMX_IndexParamOtherInit, /**< reference: OMX_PORT_PARAM_TYPE */ + OMX_IndexParamNumAvailableStreams, /**< reference: OMX_PARAM_U32TYPE */ + OMX_IndexParamActiveStream, /**< reference: OMX_PARAM_U32TYPE */ + OMX_IndexParamSuspensionPolicy, /**< reference: OMX_PARAM_SUSPENSIONPOLICYTYPE */ + OMX_IndexParamComponentSuspended, /**< reference: OMX_PARAM_SUSPENSIONTYPE */ + OMX_IndexConfigCapturing, /**< reference: OMX_CONFIG_BOOLEANTYPE */ + OMX_IndexConfigCaptureMode, /**< reference: OMX_CONFIG_CAPTUREMODETYPE */ + OMX_IndexAutoPauseAfterCapture, /**< reference: OMX_CONFIG_BOOLEANTYPE */ + OMX_IndexParamContentURI, /**< reference: OMX_PARAM_CONTENTURITYPE */ + OMX_IndexParamCustomContentPipe, /**< reference: OMX_PARAM_CONTENTPIPETYPE */ + OMX_IndexParamDisableResourceConcealment, /**< reference: OMX_RESOURCECONCEALMENTTYPE */ + OMX_IndexConfigMetadataItemCount, /**< reference: OMX_CONFIG_METADATAITEMCOUNTTYPE */ + OMX_IndexConfigContainerNodeCount, /**< reference: OMX_CONFIG_CONTAINERNODECOUNTTYPE */ + OMX_IndexConfigMetadataItem, /**< reference: OMX_CONFIG_METADATAITEMTYPE */ + OMX_IndexConfigCounterNodeID, /**< reference: OMX_CONFIG_CONTAINERNODEIDTYPE */ + OMX_IndexParamMetadataFilterType, /**< reference: OMX_PARAM_METADATAFILTERTYPE */ + OMX_IndexParamMetadataKeyFilter, /**< reference: OMX_PARAM_METADATAFILTERTYPE */ + OMX_IndexConfigPriorityMgmt, /**< reference: OMX_PRIORITYMGMTTYPE */ + OMX_IndexParamStandardComponentRole, /**< reference: OMX_PARAM_COMPONENTROLETYPE */ + + OMX_IndexPortStartUnused = 0x02000000, + OMX_IndexParamPortDefinition, /**< reference: OMX_PARAM_PORTDEFINITIONTYPE */ + OMX_IndexParamCompBufferSupplier, /**< reference: OMX_PARAM_BUFFERSUPPLIERTYPE */ + OMX_IndexReservedStartUnused = 0x03000000, + + /* Audio parameters and configurations */ + OMX_IndexAudioStartUnused = 0x04000000, + OMX_IndexParamAudioPortFormat, /**< reference: OMX_AUDIO_PARAM_PORTFORMATTYPE */ + OMX_IndexParamAudioPcm, /**< reference: OMX_AUDIO_PARAM_PCMMODETYPE */ + OMX_IndexParamAudioAac, /**< reference: OMX_AUDIO_PARAM_AACPROFILETYPE */ + OMX_IndexParamAudioRa, /**< reference: OMX_AUDIO_PARAM_RATYPE */ + OMX_IndexParamAudioMp3, /**< reference: OMX_AUDIO_PARAM_MP3TYPE */ + OMX_IndexParamAudioAdpcm, /**< reference: OMX_AUDIO_PARAM_ADPCMTYPE */ + OMX_IndexParamAudioG723, /**< reference: OMX_AUDIO_PARAM_G723TYPE */ + OMX_IndexParamAudioG729, /**< reference: OMX_AUDIO_PARAM_G729TYPE */ + OMX_IndexParamAudioAmr, /**< reference: OMX_AUDIO_PARAM_AMRTYPE */ + OMX_IndexParamAudioWma, /**< reference: OMX_AUDIO_PARAM_WMATYPE */ + OMX_IndexParamAudioSbc, /**< reference: OMX_AUDIO_PARAM_SBCTYPE */ + OMX_IndexParamAudioMidi, /**< reference: OMX_AUDIO_PARAM_MIDITYPE */ + OMX_IndexParamAudioGsm_FR, /**< reference: OMX_AUDIO_PARAM_GSMFRTYPE */ + OMX_IndexParamAudioMidiLoadUserSound, /**< reference: OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE */ + OMX_IndexParamAudioG726, /**< reference: OMX_AUDIO_PARAM_G726TYPE */ + OMX_IndexParamAudioGsm_EFR, /**< reference: OMX_AUDIO_PARAM_GSMEFRTYPE */ + OMX_IndexParamAudioGsm_HR, /**< reference: OMX_AUDIO_PARAM_GSMHRTYPE */ + OMX_IndexParamAudioPdc_FR, /**< reference: OMX_AUDIO_PARAM_PDCFRTYPE */ + OMX_IndexParamAudioPdc_EFR, /**< reference: OMX_AUDIO_PARAM_PDCEFRTYPE */ + OMX_IndexParamAudioPdc_HR, /**< reference: OMX_AUDIO_PARAM_PDCHRTYPE */ + OMX_IndexParamAudioTdma_FR, /**< reference: OMX_AUDIO_PARAM_TDMAFRTYPE */ + OMX_IndexParamAudioTdma_EFR, /**< reference: OMX_AUDIO_PARAM_TDMAEFRTYPE */ + OMX_IndexParamAudioQcelp8, /**< reference: OMX_AUDIO_PARAM_QCELP8TYPE */ + OMX_IndexParamAudioQcelp13, /**< reference: OMX_AUDIO_PARAM_QCELP13TYPE */ + OMX_IndexParamAudioEvrc, /**< reference: OMX_AUDIO_PARAM_EVRCTYPE */ + OMX_IndexParamAudioSmv, /**< reference: OMX_AUDIO_PARAM_SMVTYPE */ + OMX_IndexParamAudioVorbis, /**< reference: OMX_AUDIO_PARAM_VORBISTYPE */ + + OMX_IndexConfigAudioMidiImmediateEvent, /**< reference: OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE */ + OMX_IndexConfigAudioMidiControl, /**< reference: OMX_AUDIO_CONFIG_MIDICONTROLTYPE */ + OMX_IndexConfigAudioMidiSoundBankProgram, /**< reference: OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE */ + OMX_IndexConfigAudioMidiStatus, /**< reference: OMX_AUDIO_CONFIG_MIDISTATUSTYPE */ + OMX_IndexConfigAudioMidiMetaEvent, /**< reference: OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE */ + OMX_IndexConfigAudioMidiMetaEventData, /**< reference: OMX_AUDIO_CONFIG_MIDIMETAEVENTDATATYPE */ + OMX_IndexConfigAudioVolume, /**< reference: OMX_AUDIO_CONFIG_VOLUMETYPE */ + OMX_IndexConfigAudioBalance, /**< reference: OMX_AUDIO_CONFIG_BALANCETYPE */ + OMX_IndexConfigAudioChannelMute, /**< reference: OMX_AUDIO_CONFIG_CHANNELMUTETYPE */ + OMX_IndexConfigAudioMute, /**< reference: OMX_AUDIO_CONFIG_MUTETYPE */ + OMX_IndexConfigAudioLoudness, /**< reference: OMX_AUDIO_CONFIG_LOUDNESSTYPE */ + OMX_IndexConfigAudioEchoCancelation, /**< reference: OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE */ + OMX_IndexConfigAudioNoiseReduction, /**< reference: OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE */ + OMX_IndexConfigAudioBass, /**< reference: OMX_AUDIO_CONFIG_BASSTYPE */ + OMX_IndexConfigAudioTreble, /**< reference: OMX_AUDIO_CONFIG_TREBLETYPE */ + OMX_IndexConfigAudioStereoWidening, /**< reference: OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE */ + OMX_IndexConfigAudioChorus, /**< reference: OMX_AUDIO_CONFIG_CHORUSTYPE */ + OMX_IndexConfigAudioEqualizer, /**< reference: OMX_AUDIO_CONFIG_EQUALIZERTYPE */ + OMX_IndexConfigAudioReverberation, /**< reference: OMX_AUDIO_CONFIG_REVERBERATIONTYPE */ + OMX_IndexConfigAudioChannelVolume, /**< reference: OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE */ + + /* Image specific parameters and configurations */ + OMX_IndexImageStartUnused = 0x05000000, + OMX_IndexParamImagePortFormat, /**< reference: OMX_IMAGE_PARAM_PORTFORMATTYPE */ + OMX_IndexParamFlashControl, /**< reference: OMX_IMAGE_PARAM_FLASHCONTROLTYPE */ + OMX_IndexConfigFocusControl, /**< reference: OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE */ + OMX_IndexParamQFactor, /**< reference: OMX_IMAGE_PARAM_QFACTORTYPE */ + OMX_IndexParamQuantizationTable, /**< reference: OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE */ + OMX_IndexParamHuffmanTable, /**< reference: OMX_IMAGE_PARAM_HUFFMANTTABLETYPE */ + OMX_IndexConfigFlashControl, /**< reference: OMX_IMAGE_PARAM_FLASHCONTROLTYPE */ + + /* Video specific parameters and configurations */ + OMX_IndexVideoStartUnused = 0x06000000, + OMX_IndexParamVideoPortFormat, /**< reference: OMX_VIDEO_PARAM_PORTFORMATTYPE */ + OMX_IndexParamVideoQuantization, /**< reference: OMX_VIDEO_PARAM_QUANTIZATIONTYPE */ + OMX_IndexParamVideoFastUpdate, /**< reference: OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE */ + OMX_IndexParamVideoBitrate, /**< reference: OMX_VIDEO_PARAM_BITRATETYPE */ + OMX_IndexParamVideoMotionVector, /**< reference: OMX_VIDEO_PARAM_MOTIONVECTORTYPE */ + OMX_IndexParamVideoIntraRefresh, /**< reference: OMX_VIDEO_PARAM_INTRAREFRESHTYPE */ + OMX_IndexParamVideoErrorCorrection, /**< reference: OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE */ + OMX_IndexParamVideoVBSMC, /**< reference: OMX_VIDEO_PARAM_VBSMCTYPE */ + OMX_IndexParamVideoMpeg2, /**< reference: OMX_VIDEO_PARAM_MPEG2TYPE */ + OMX_IndexParamVideoMpeg4, /**< reference: OMX_VIDEO_PARAM_MPEG4TYPE */ + OMX_IndexParamVideoWmv, /**< reference: OMX_VIDEO_PARAM_WMVTYPE */ + OMX_IndexParamVideoRv, /**< reference: OMX_VIDEO_PARAM_RVTYPE */ + OMX_IndexParamVideoAvc, /**< reference: OMX_VIDEO_PARAM_AVCTYPE */ + OMX_IndexParamVideoH263, /**< reference: OMX_VIDEO_PARAM_H263TYPE */ + OMX_IndexParamVideoProfileLevelQuerySupported, /**< reference: OMX_VIDEO_PARAM_PROFILELEVELTYPE */ + OMX_IndexParamVideoProfileLevelCurrent, /**< reference: OMX_VIDEO_PARAM_PROFILELEVELTYPE */ + OMX_IndexConfigVideoBitrate, /**< reference: OMX_VIDEO_CONFIG_BITRATETYPE */ + OMX_IndexConfigVideoFramerate, /**< reference: OMX_CONFIG_FRAMERATETYPE */ + OMX_IndexConfigVideoIntraVOPRefresh, /**< reference: OMX_CONFIG_INTRAREFRESHVOPTYPE */ + OMX_IndexConfigVideoIntraMBRefresh, /**< reference: OMX_CONFIG_MACROBLOCKERRORMAPTYPE */ + OMX_IndexConfigVideoMBErrorReporting, /**< reference: OMX_CONFIG_MBERRORREPORTINGTYPE */ + OMX_IndexParamVideoMacroblocksPerFrame, /**< reference: OMX_PARAM_MACROBLOCKSTYPE */ + OMX_IndexConfigVideoMacroBlockErrorMap, /**< reference: OMX_CONFIG_MACROBLOCKERRORMAPTYPE */ + OMX_IndexParamVideoSliceFMO, /**< reference: OMX_VIDEO_PARAM_AVCSLICEFMO */ + OMX_IndexConfigVideoAVCIntraPeriod, /**< reference: OMX_VIDEO_CONFIG_AVCINTRAPERIOD */ + OMX_IndexConfigVideoNalSize, /**< reference: OMX_VIDEO_CONFIG_NALSIZE */ + OMX_IndexConfigCommonDeinterlace, /**< reference: OMX_VIDEO_CONFIG_DEINTERLACE */ + + /* Image & Video common Configurations */ + OMX_IndexCommonStartUnused = 0x07000000, + OMX_IndexParamCommonDeblocking, /**< reference: OMX_PARAM_DEBLOCKINGTYPE */ + OMX_IndexParamCommonSensorMode, /**< reference: OMX_PARAM_SENSORMODETYPE */ + OMX_IndexParamCommonInterleave, /**< reference: OMX_PARAM_INTERLEAVETYPE */ + OMX_IndexConfigCommonColorFormatConversion, /**< reference: OMX_CONFIG_COLORCONVERSIONTYPE */ + OMX_IndexConfigCommonScale, /**< reference: OMX_CONFIG_SCALEFACTORTYPE */ + OMX_IndexConfigCommonImageFilter, /**< reference: OMX_CONFIG_IMAGEFILTERTYPE */ + OMX_IndexConfigCommonColorEnhancement, /**< reference: OMX_CONFIG_COLORENHANCEMENTTYPE */ + OMX_IndexConfigCommonColorKey, /**< reference: OMX_CONFIG_COLORKEYTYPE */ + OMX_IndexConfigCommonColorBlend, /**< reference: OMX_CONFIG_COLORBLENDTYPE */ + OMX_IndexConfigCommonFrameStabilisation,/**< reference: OMX_CONFIG_FRAMESTABTYPE */ + OMX_IndexConfigCommonRotate, /**< reference: OMX_CONFIG_ROTATIONTYPE */ + OMX_IndexConfigCommonMirror, /**< reference: OMX_CONFIG_MIRRORTYPE */ + OMX_IndexConfigCommonOutputPosition, /**< reference: OMX_CONFIG_POINTTYPE */ + OMX_IndexConfigCommonInputCrop, /**< reference: OMX_CONFIG_RECTTYPE */ + OMX_IndexConfigCommonOutputCrop, /**< reference: OMX_CONFIG_RECTTYPE */ + OMX_IndexConfigCommonDigitalZoom, /**< reference: OMX_CONFIG_SCALEFACTORTYPE */ + OMX_IndexConfigCommonOpticalZoom, /**< reference: OMX_CONFIG_SCALEFACTORTYPE*/ + OMX_IndexConfigCommonWhiteBalance, /**< reference: OMX_CONFIG_WHITEBALCONTROLTYPE */ + OMX_IndexConfigCommonExposure, /**< reference: OMX_CONFIG_EXPOSURECONTROLTYPE */ + OMX_IndexConfigCommonContrast, /**< reference: OMX_CONFIG_CONTRASTTYPE */ + OMX_IndexConfigCommonBrightness, /**< reference: OMX_CONFIG_BRIGHTNESSTYPE */ + OMX_IndexConfigCommonBacklight, /**< reference: OMX_CONFIG_BACKLIGHTTYPE */ + OMX_IndexConfigCommonGamma, /**< reference: OMX_CONFIG_GAMMATYPE */ + OMX_IndexConfigCommonSaturation, /**< reference: OMX_CONFIG_SATURATIONTYPE */ + OMX_IndexConfigCommonLightness, /**< reference: OMX_CONFIG_LIGHTNESSTYPE */ + OMX_IndexConfigCommonExclusionRect, /**< reference: OMX_CONFIG_RECTTYPE */ + OMX_IndexConfigCommonDithering, /**< reference: OMX_CONFIG_DITHERTYPE */ + OMX_IndexConfigCommonPlaneBlend, /**< reference: OMX_CONFIG_PLANEBLENDTYPE */ + OMX_IndexConfigCommonExposureValue, /**< reference: OMX_CONFIG_EXPOSUREVALUETYPE */ + OMX_IndexConfigCommonOutputSize, /**< reference: OMX_FRAMESIZETYPE */ + OMX_IndexParamCommonExtraQuantData, /**< reference: OMX_OTHER_EXTRADATATYPE */ + OMX_IndexConfigCommonFocusRegion, /**< reference: OMX_CONFIG_FOCUSREGIONTYPE */ + OMX_IndexConfigCommonFocusStatus, /**< reference: OMX_PARAM_FOCUSSTATUSTYPE */ + OMX_IndexConfigCommonTransitionEffect, /**< reference: OMX_CONFIG_TRANSITIONEFFECTTYPE */ + + /* Reserved Configuration range */ + OMX_IndexOtherStartUnused = 0x08000000, + OMX_IndexParamOtherPortFormat, /**< reference: OMX_OTHER_PARAM_PORTFORMATTYPE */ + OMX_IndexConfigOtherPower, /**< reference: OMX_OTHER_CONFIG_POWERTYPE */ + OMX_IndexConfigOtherStats, /**< reference: OMX_OTHER_CONFIG_STATSTYPE */ + + + /* Reserved Time range */ + OMX_IndexTimeStartUnused = 0x09000000, + OMX_IndexConfigTimeScale, /**< reference: OMX_TIME_CONFIG_SCALETYPE */ + OMX_IndexConfigTimeClockState, /**< reference: OMX_TIME_CONFIG_CLOCKSTATETYPE */ + OMX_IndexConfigTimeActiveRefClock, /**< reference: OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE */ + OMX_IndexConfigTimeCurrentMediaTime, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (read only) */ + OMX_IndexConfigTimeCurrentWallTime, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (read only) */ + OMX_IndexConfigTimeCurrentAudioReference, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */ + OMX_IndexConfigTimeCurrentVideoReference, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */ + OMX_IndexConfigTimeMediaTimeRequest, /**< reference: OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE (write only) */ + OMX_IndexConfigTimeClientStartTime, /** + + +/** Khronos standard extension indices. + +This enum lists the current Khronos extension indices to OpenMAX IL. +*/ +typedef enum OMX_INDEXEXTTYPE { + + /* Component parameters and configurations */ + OMX_IndexExtComponentStartUnused = OMX_IndexKhronosExtensions + 0x00100000, + OMX_IndexConfigCallbackRequest, /**< reference: OMX_CONFIG_CALLBACKREQUESTTYPE */ + OMX_IndexConfigCommitMode, /**< reference: OMX_CONFIG_COMMITMODETYPE */ + OMX_IndexConfigCommit, /**< reference: OMX_CONFIG_COMMITTYPE */ + + /* Port parameters and configurations */ + OMX_IndexExtPortStartUnused = OMX_IndexKhronosExtensions + 0x00200000, + + /* Audio parameters and configurations */ + OMX_IndexExtAudioStartUnused = OMX_IndexKhronosExtensions + 0x00400000, + + /* Image parameters and configurations */ + OMX_IndexExtImageStartUnused = OMX_IndexKhronosExtensions + 0x00500000, + + /* Video parameters and configurations */ + OMX_IndexExtVideoStartUnused = OMX_IndexKhronosExtensions + 0x00600000, + OMX_IndexParamNalStreamFormatSupported, /**< reference: OMX_NALSTREAMFORMATTYPE */ + OMX_IndexParamNalStreamFormat, /**< reference: OMX_NALSTREAMFORMATTYPE */ + OMX_IndexParamNalStreamFormatSelect, /**< reference: OMX_NALSTREAMFORMATTYPE */ + OMX_IndexParamVideoVp8, /**< reference: OMX_VIDEO_PARAM_VP8TYPE */ + OMX_IndexConfigVideoVp8ReferenceFrame, /**< reference: OMX_VIDEO_VP8REFERENCEFRAMETYPE */ + OMX_IndexConfigVideoVp8ReferenceFrameType, /**< reference: OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE */ + OMX_IndexParamVideoReserved, /**< Reserved for future index */ + OMX_IndexParamVideoHevc, /**< reference: OMX_VIDEO_PARAM_HEVCTYPE */ + + /* Image & Video common configurations */ + OMX_IndexExtCommonStartUnused = OMX_IndexKhronosExtensions + 0x00700000, + + /* Other configurations */ + OMX_IndexExtOtherStartUnused = OMX_IndexKhronosExtensions + 0x00800000, + OMX_IndexConfigAutoFramerateConversion, /**< reference: OMX_CONFIG_BOOLEANTYPE */ + OMX_IndexConfigPriority, /**< reference: OMX_PARAM_U32TYPE */ + OMX_IndexConfigOperatingRate, /**< reference: OMX_PARAM_U32TYPE in Q16 format for video and in Hz for audio */ + + /* Time configurations */ + OMX_IndexExtTimeStartUnused = OMX_IndexKhronosExtensions + 0x00900000, + + OMX_IndexExtMax = 0x7FFFFFFF +} OMX_INDEXEXTTYPE; + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* OMX_IndexExt_h */ +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Other.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Other.h new file mode 100644 index 000000000..caf7f3844 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Other.h @@ -0,0 +1,337 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** @file OMX_Other.h - OpenMax IL version 1.1.2 + * The structures needed by Other components to exchange + * parameters and configuration data with the components. + */ + +#ifndef OMX_Other_h +#define OMX_Other_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +/* Each OMX header must include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ + +#include + + +/** + * Enumeration of possible data types which match to multiple domains or no + * domain at all. For types which are vendor specific, a value above + * OMX_OTHER_VENDORTSTART should be used. + */ +typedef enum OMX_OTHER_FORMATTYPE { + OMX_OTHER_FormatTime = 0, /**< Transmission of various timestamps, elapsed time, + time deltas, etc */ + OMX_OTHER_FormatPower, /**< Perhaps used for enabling/disabling power + management, setting clocks? */ + OMX_OTHER_FormatStats, /**< Could be things such as frame rate, frames + dropped, etc */ + OMX_OTHER_FormatBinary, /**< Arbitrary binary data */ + OMX_OTHER_FormatVendorReserved = 1000, /**< Starting value for vendor specific + formats */ + + OMX_OTHER_FormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_OTHER_FormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_OTHER_FormatMax = 0x7FFFFFFF +} OMX_OTHER_FORMATTYPE; + +/** + * Enumeration of seek modes. + */ +typedef enum OMX_TIME_SEEKMODETYPE { + OMX_TIME_SeekModeFast = 0, /**< Prefer seeking to an approximation + * of the requested seek position over + * the actual seek position if it + * results in a faster seek. */ + OMX_TIME_SeekModeAccurate, /**< Prefer seeking to the actual seek + * position over an approximation + * of the requested seek position even + * if it results in a slower seek. */ + OMX_TIME_SeekModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_TIME_SeekModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_TIME_SeekModeMax = 0x7FFFFFFF +} OMX_TIME_SEEKMODETYPE; + +/* Structure representing the seekmode of the component */ +typedef struct OMX_TIME_CONFIG_SEEKMODETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_TIME_SEEKMODETYPE eType; /**< The seek mode */ +} OMX_TIME_CONFIG_SEEKMODETYPE; + +/** Structure representing a time stamp used with the following configs + * on the Clock Component (CC): + * + * OMX_IndexConfigTimeCurrentWallTime: query of the CCs current wall + * time + * OMX_IndexConfigTimeCurrentMediaTime: query of the CCs current media + * time + * OMX_IndexConfigTimeCurrentAudioReference and + * OMX_IndexConfigTimeCurrentVideoReference: audio/video reference + * clock sending SC its reference time + * OMX_IndexConfigTimeClientStartTime: a Clock Component client sends + * this structure to the Clock Component via a SetConfig on its + * client port when it receives a buffer with + * OMX_BUFFERFLAG_STARTTIME set. It must use the timestamp + * specified by that buffer for nStartTimestamp. + * + * Its also used with the following config on components in general: + * + * OMX_IndexConfigTimePosition: IL client querying component position + * (GetConfig) or commanding a component to seek to the given location + * (SetConfig) + */ +typedef struct OMX_TIME_CONFIG_TIMESTAMPTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version + * information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_TICKS nTimestamp; /**< timestamp .*/ +} OMX_TIME_CONFIG_TIMESTAMPTYPE; + +/** Enumeration of possible reference clocks to the media time. */ +typedef enum OMX_TIME_UPDATETYPE { + OMX_TIME_UpdateRequestFulfillment, /**< Update is the fulfillment of a media time request. */ + OMX_TIME_UpdateScaleChanged, /**< Update was generated because the scale chagned. */ + OMX_TIME_UpdateClockStateChanged, /**< Update was generated because the clock state changed. */ + OMX_TIME_UpdateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_TIME_UpdateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_TIME_UpdateMax = 0x7FFFFFFF +} OMX_TIME_UPDATETYPE; + +/** Enumeration of possible reference clocks to the media time. */ +typedef enum OMX_TIME_REFCLOCKTYPE { + OMX_TIME_RefClockNone, /**< Use no references. */ + OMX_TIME_RefClockAudio, /**< Use references sent through OMX_IndexConfigTimeCurrentAudioReference */ + OMX_TIME_RefClockVideo, /**< Use references sent through OMX_IndexConfigTimeCurrentVideoReference */ + OMX_TIME_RefClockKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_TIME_RefClockVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_TIME_RefClockMax = 0x7FFFFFFF +} OMX_TIME_REFCLOCKTYPE; + +/** Enumeration of clock states. */ +typedef enum OMX_TIME_CLOCKSTATE { + OMX_TIME_ClockStateRunning, /**< Clock running. */ + OMX_TIME_ClockStateWaitingForStartTime, /**< Clock waiting until the + * prescribed clients emit their + * start time. */ + OMX_TIME_ClockStateStopped, /**< Clock stopped. */ + OMX_TIME_ClockStateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_TIME_ClockStateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_TIME_ClockStateMax = 0x7FFFFFFF +} OMX_TIME_CLOCKSTATE; + +/** Structure representing a media time request to the clock component. + * + * A client component sends this structure to the Clock Component via a SetConfig + * on its client port to specify a media timestamp the Clock Component + * should emit. The Clock Component should fulfill the request by sending a + * OMX_TIME_MEDIATIMETYPE when its media clock matches the requested + * timestamp. + * + * The client may require a media time request be fulfilled slightly + * earlier than the media time specified. In this case the client specifies + * an offset which is equal to the difference between wall time corresponding + * to the requested media time and the wall time when it will be + * fulfilled. + * + * A client component may uses these requests and the OMX_TIME_MEDIATIMETYPE to + * time events according to timestamps. If a client must perform an operation O at + * a time T (e.g. deliver a video frame at its corresponding timestamp), it makes a + * media time request at T (perhaps specifying an offset to ensure the request fulfillment + * is a little early). When the clock component passes the resulting OMX_TIME_MEDIATIMETYPE + * structure back to the client component, the client may perform operation O (perhaps having + * to wait a slight amount more time itself as specified by the return values). + */ + +typedef struct OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< port that this structure applies to */ + OMX_PTR pClientPrivate; /**< Client private data to disabiguate this media time + * from others (e.g. the number of the frame to deliver). + * Duplicated in the media time structure that fulfills + * this request. A value of zero is reserved for time scale + * updates. */ + OMX_TICKS nMediaTimestamp; /**< Media timestamp requested.*/ + OMX_TICKS nOffset; /**< Amount of wall clock time by which this + * request should be fulfilled early */ +} OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE; + +/**< Structure sent from the clock component client either when fulfilling + * a media time request or when the time scale has changed. + * + * In the former case the Clock Component fills this structure and times its emission + * to a client component (via the client port) according to the corresponding media + * time request sent by the client. The Clock Component should time the emission to occur + * when the requested timestamp matches the Clock Component's media time but also the + * prescribed offset early. + * + * Upon scale changes the clock component clears the nClientPrivate data, sends the current + * media time and sets the nScale to the new scale via the client port. It emits a + * OMX_TIME_MEDIATIMETYPE to all clients independent of any requests. This allows clients to + * alter processing to accomodate scaling. For instance a video component might skip inter-frames + * in the case of extreme fastforward. Likewise an audio component might add or remove samples + * from an audio frame to scale audio data. + * + * It is expected that some clock components may not be able to fulfill requests + * at exactly the prescribed time. This is acceptable so long as the request is + * fulfilled at least as early as described and not later. This structure provides + * fields the client may use to wait for the remaining time. + * + * The client may use either the nOffset or nWallTimeAtMedia fields to determine the + * wall time until the nMediaTimestamp actually occurs. In the latter case the + * client can get a more accurate value for offset by getting the current wall + * from the cloc component and subtracting it from nWallTimeAtMedia. + */ + +typedef struct OMX_TIME_MEDIATIMETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nClientPrivate; /**< Client private data to disabiguate this media time + * from others. Copied from the media time request. + * A value of zero is reserved for time scale updates. */ + OMX_TIME_UPDATETYPE eUpdateType; /**< Reason for the update */ + OMX_TICKS nMediaTimestamp; /**< Media time requested. If no media time was + * requested then this is the current media time. */ + OMX_TICKS nOffset; /**< Amount of wall clock time by which this + * request was actually fulfilled early */ + + OMX_TICKS nWallTimeAtMediaTime; /**< Wall time corresponding to nMediaTimeStamp. + * A client may compare this value to current + * media time obtained from the Clock Component to determine + * the wall time until the media timestamp is really + * current. */ + OMX_S32 xScale; /**< Current media time scale in Q16 format. */ + OMX_TIME_CLOCKSTATE eState; /* Seeking Change. Added 7/12.*/ + /**< State of the media time. */ +} OMX_TIME_MEDIATIMETYPE; + +/** Structure representing the current media time scale factor. Applicable only to clock + * component, other components see scale changes via OMX_TIME_MEDIATIMETYPE buffers sent via + * the clock component client ports. Upon recieving this config the clock component changes + * the rate by which the media time increases or decreases effectively implementing trick modes. + */ +typedef struct OMX_TIME_CONFIG_SCALETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_S32 xScale; /**< This is a value in Q16 format which is used for + * scaling the media time */ +} OMX_TIME_CONFIG_SCALETYPE; + +/** Bits used to identify a clock port. Used in OMX_TIME_CONFIG_CLOCKSTATETYPEs nWaitMask field */ +#define OMX_CLOCKPORT0 0x00000001 +#define OMX_CLOCKPORT1 0x00000002 +#define OMX_CLOCKPORT2 0x00000004 +#define OMX_CLOCKPORT3 0x00000008 +#define OMX_CLOCKPORT4 0x00000010 +#define OMX_CLOCKPORT5 0x00000020 +#define OMX_CLOCKPORT6 0x00000040 +#define OMX_CLOCKPORT7 0x00000080 + +/** Structure representing the current mode of the media clock. + * IL Client uses this config to change or query the mode of the + * media clock of the clock component. Applicable only to clock + * component. + * + * On a SetConfig if eState is OMX_TIME_ClockStateRunning media time + * starts immediately at the prescribed start time. If + * OMX_TIME_ClockStateWaitingForStartTime the Clock Component ignores + * the given nStartTime and waits for all clients specified in the + * nWaitMask to send starttimes (via + * OMX_IndexConfigTimeClientStartTime). The Clock Component then starts + * the media clock using the earliest start time supplied. */ +typedef struct OMX_TIME_CONFIG_CLOCKSTATETYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version + * information */ + OMX_TIME_CLOCKSTATE eState; /**< State of the media time. */ + OMX_TICKS nStartTime; /**< Start time of the media time. */ + OMX_TICKS nOffset; /**< Time to offset the media time by + * (e.g. preroll). Media time will be + * reported to be nOffset ticks earlier. + */ + OMX_U32 nWaitMask; /**< Mask of OMX_CLOCKPORT values. */ +} OMX_TIME_CONFIG_CLOCKSTATETYPE; + +/** Structure representing the reference clock currently being used to + * compute media time. IL client uses this config to change or query the + * clock component's active reference clock */ +typedef struct OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_TIME_REFCLOCKTYPE eClock; /**< Reference clock used to compute media time */ +} OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE; + +/** Descriptor for setting specifics of power type. + * Note: this structure is listed for backwards compatibility. */ +typedef struct OMX_OTHER_CONFIG_POWERTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_BOOL bEnablePM; /**< Flag to enable Power Management */ +} OMX_OTHER_CONFIG_POWERTYPE; + + +/** Descriptor for setting specifics of stats type. + * Note: this structure is listed for backwards compatibility. */ +typedef struct OMX_OTHER_CONFIG_STATSTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + /* what goes here */ +} OMX_OTHER_CONFIG_STATSTYPE; + + +/** + * The PortDefinition structure is used to define all of the parameters + * necessary for the compliant component to setup an input or an output other + * path. + */ +typedef struct OMX_OTHER_PORTDEFINITIONTYPE { + OMX_OTHER_FORMATTYPE eFormat; /**< Type of data expected for this channel */ +} OMX_OTHER_PORTDEFINITIONTYPE; + +/** Port format parameter. This structure is used to enumerate + * the various data input/output format supported by the port. + */ +typedef struct OMX_OTHER_PARAM_PORTFORMATTYPE { + OMX_U32 nSize; /**< size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Indicates which port to set */ + OMX_U32 nIndex; /**< Indicates the enumeration index for the format from 0x0 to N-1 */ + OMX_OTHER_FORMATTYPE eFormat; /**< Type of data expected for this channel */ +} OMX_OTHER_PARAM_PORTFORMATTYPE; + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_QCOMExtns.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_QCOMExtns.h new file mode 100644 index 000000000..20917932b --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_QCOMExtns.h @@ -0,0 +1,1888 @@ +/*-------------------------------------------------------------------------- +Copyright (c) 2009-2015, The Linux Foundation. All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of The Linux Foundation nor + the names of its contributors may be used to endorse or promote + products derived from this software without specific prior written + permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +NON-INFRINGEMENT ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; +OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR +OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF +ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +--------------------------------------------------------------------------*/ +#ifndef __OMX_QCOM_EXTENSIONS_H__ +#define __OMX_QCOM_EXTENSIONS_H__ + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/*============================================================================ +*//** @file OMX_QCOMExtns.h + This header contains constants and type definitions that specify the + extensions added to the OpenMAX Vendor specific APIs. + +*//*========================================================================*/ + + +/////////////////////////////////////////////////////////////////////////////// +// Include Files +/////////////////////////////////////////////////////////////////////////////// +#include "OMX_Core.h" +#include "OMX_Video.h" + +#define OMX_VIDEO_MAX_HP_LAYERS 6 +/** + * This extension is used to register mapping of a virtual + * address to a physical address. This extension is a parameter + * which can be set using the OMX_SetParameter macro. The data + * pointer corresponding to this extension is + * OMX_QCOM_MemMapEntry. This parameter is a 'write only' + * parameter (Current value cannot be queried using + * OMX_GetParameter macro). + */ +#define OMX_QCOM_EXTN_REGISTER_MMAP "OMX.QCOM.index.param.register_mmap" + +/** + * This structure describes the data pointer corresponding to + * the OMX_QCOM_MMAP_REGISTER_EXTN extension. This parameter + * must be set only 'after' populating a port with a buffer + * using OMX_UseBuffer, wherein the data pointer of the buffer + * corresponds to the virtual address as specified in this + * structure. + */ +struct OMX_QCOM_PARAM_MEMMAPENTRYTYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ + OMX_U32 nPortIndex; /**< Port number the structure applies to */ + + /** + * The virtual address of memory block + */ + OMX_U64 nVirtualAddress; + + /** + * The physical address corresponding to the virtual address. The physical + * address is contiguous for the entire valid range of the virtual + * address. + */ + OMX_U64 nPhysicalAddress; +}; + +#define QOMX_VIDEO_IntraRefreshRandom (OMX_VIDEO_IntraRefreshVendorStartUnused + 0) + +/* This error event is used for H.264 long-term reference (LTR) encoding. + * When IL client specifies an LTR frame with its identifier via + * OMX_QCOM_INDEX_CONFIG_VIDEO_LTRUSE to the encoder, if the specified + * LTR frame can not be located by the encoder in its LTR list, the encoder + * issues this error event to IL client to notify the failure of LTRUse config. + */ +#define QOMX_ErrorLTRUseFailed (OMX_ErrorVendorStartUnused + 1) + +#define QOMX_VIDEO_BUFFERFLAG_BFRAME 0x00100000 + +#define QOMX_VIDEO_BUFFERFLAG_EOSEQ 0x00200000 + +#define QOMX_VIDEO_BUFFERFLAG_MBAFF 0x00400000 + +#define QOMX_VIDEO_BUFFERFLAG_CANCEL 0x00800000 + +#define OMX_QCOM_PORTDEFN_EXTN "OMX.QCOM.index.param.portdefn" +/* Allowed APIs on the above Index: OMX_GetParameter() and OMX_SetParameter() */ + +typedef enum OMX_QCOMMemoryRegion +{ + OMX_QCOM_MemRegionInvalid, + OMX_QCOM_MemRegionEBI1, + OMX_QCOM_MemRegionSMI, + OMX_QCOM_MemRegionMax = 0X7FFFFFFF +} OMX_QCOMMemoryRegion; + +typedef enum OMX_QCOMCacheAttr +{ + OMX_QCOM_CacheAttrNone, + OMX_QCOM_CacheAttrWriteBack, + OMX_QCOM_CacheAttrWriteThrough, + OMX_QCOM_CacheAttrMAX = 0X7FFFFFFF +} OMX_QCOMCacheAttr; + +typedef struct OMX_QCOMRectangle +{ + OMX_S32 x; + OMX_S32 y; + OMX_S32 dx; + OMX_S32 dy; +} OMX_QCOMRectangle; + +/** OMX_QCOMFramePackingFormat + * Input or output buffer format + */ +typedef enum OMX_QCOMFramePackingFormat +{ + /* 0 - unspecified + */ + OMX_QCOM_FramePacking_Unspecified, + + /* 1 - Partial frames may be present OMX IL 1.1.1 Figure 2-10: + * Case 1??Each Buffer Filled In Whole or In Part + */ + OMX_QCOM_FramePacking_Arbitrary, + + /* 2 - Multiple complete frames per buffer (integer number) + * OMX IL 1.1.1 Figure 2-11: Case 2Each Buffer Filled with + * Only Complete Frames of Data + */ + OMX_QCOM_FramePacking_CompleteFrames, + + /* 3 - Only one complete frame per buffer, no partial frame + * OMX IL 1.1.1 Figure 2-12: Case 3Each Buffer Filled with + * Only One Frame of Compressed Data. Usually at least one + * complete unit of data will be delivered in a buffer for + * uncompressed data formats. + */ + OMX_QCOM_FramePacking_OnlyOneCompleteFrame, + + /* 4 - Only one complete subframe per buffer, no partial subframe + * Example: In H264, one complete NAL per buffer, where one frame + * can contatin multiple NAL + */ + OMX_QCOM_FramePacking_OnlyOneCompleteSubFrame, + + OMX_QCOM_FramePacking_MAX = 0X7FFFFFFF +} OMX_QCOMFramePackingFormat; + +typedef struct OMX_QCOM_PARAM_PORTDEFINITIONTYPE { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + + /** Platform specific memory region EBI1, SMI, etc.,*/ + OMX_QCOMMemoryRegion nMemRegion; + + OMX_QCOMCacheAttr nCacheAttr; /** Cache attributes */ + + /** Input or output buffer format */ + OMX_U32 nFramePackingFormat; + +} OMX_QCOM_PARAM_PORTDEFINITIONTYPE; + +typedef struct OMX_QCOM_VIDEO_PARAM_QPRANGETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 minQP; + OMX_U32 maxQP; +} OMX_QCOM_VIDEO_PARAM_QPRANGETYPE; + +#define OMX_QCOM_PLATFORMPVT_EXTN "OMX.QCOM.index.param.platformprivate" +/** Allowed APIs on the above Index: OMX_SetParameter() */ + +typedef enum OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE +{ + /** Enum for PMEM information */ + OMX_QCOM_PLATFORM_PRIVATE_PMEM = 0x1 +} OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE; + +/** IL client will set the following structure. A failure + * code will be returned if component does not support the + * value provided for 'type'. + */ +struct OMX_QCOM_PLATFORMPRIVATE_EXTN +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX spec version information */ + OMX_U32 nPortIndex; /** Port number on which usebuffer extn is applied */ + + /** Type of extensions should match an entry from + OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE + */ + OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE type; +}; + +typedef struct OMX_QCOM_PLATFORM_PRIVATE_PMEM_INFO +{ + /** pmem file descriptor */ + unsigned long pmem_fd; + /** Offset from pmem device base address */ + OMX_U32 offset; + OMX_U32 size; + OMX_U32 mapped_size; + OMX_PTR buffer; +}OMX_QCOM_PLATFORM_PRIVATE_PMEM_INFO; + +typedef struct OMX_QCOM_PLATFORM_PRIVATE_ENTRY +{ + /** Entry type */ + OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE type; + + /** Pointer to platform specific entry */ + OMX_PTR entry; +}OMX_QCOM_PLATFORM_PRIVATE_ENTRY; + +typedef struct OMX_QCOM_PLATFORM_PRIVATE_LIST +{ + /** Number of entries */ + OMX_U32 nEntries; + + /** Pointer to array of platform specific entries * + * Contiguous block of OMX_QCOM_PLATFORM_PRIVATE_ENTRY element + */ + OMX_QCOM_PLATFORM_PRIVATE_ENTRY* entryList; +}OMX_QCOM_PLATFORM_PRIVATE_LIST; + +#define OMX_QCOM_FRAME_PACKING_FORMAT "OMX.QCOM.index.param.framepackfmt" +/* Allowed API call: OMX_GetParameter() */ +/* IL client can use this index to rerieve the list of frame formats * + * supported by the component */ + +typedef struct OMX_QCOM_FRAME_PACKINGFORMAT_TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nIndex; + OMX_QCOMFramePackingFormat eframePackingFormat; +} OMX_QCOM_FRAME_PACKINGFORMAT_TYPE; + + +/** + * Following is the enum for color formats supported on Qualcomm + * MSMs YVU420SemiPlanar color format is not defined in OpenMAX + * 1.1.1 and prior versions of OpenMAX specification. + */ + +enum OMX_QCOM_COLOR_FORMATTYPE +{ + +/** YVU420SemiPlanar: YVU planar format, organized with a first + * plane containing Y pixels, and a second plane containing + * interleaved V and U pixels. V and U pixels are sub-sampled + * by a factor of two both horizontally and vertically. + */ + QOMX_COLOR_FormatYVU420SemiPlanar = 0x7FA30C00, + QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka, + QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka, + QOMX_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka, + QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m, + QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView, + QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed, + QOMX_COLOR_Format32bitRGBA8888, + QOMX_COLOR_Format32bitRGBA8888Compressed, + QOMX_COLOR_FormatAndroidOpaque = (OMX_COLOR_FORMATTYPE) OMX_COLOR_FormatVendorStartUnused + 0x789, +}; + +enum OMX_QCOM_VIDEO_CODINGTYPE +{ +/** Codecs support by qualcomm which are not listed in OMX 1.1.x + * spec + * */ + OMX_QCOM_VIDEO_CodingVC1 = 0x7FA30C00 , + OMX_QCOM_VIDEO_CodingWMV9 = 0x7FA30C01, + QOMX_VIDEO_CodingDivx = 0x7FA30C02, /**< Value when coding is Divx */ + QOMX_VIDEO_CodingSpark = 0x7FA30C03, /**< Value when coding is Sorenson Spark */ + QOMX_VIDEO_CodingVp = 0x7FA30C04, + QOMX_VIDEO_CodingVp8 = OMX_VIDEO_CodingVP8, /**< keeping old enum for backwards compatibility*/ + QOMX_VIDEO_CodingHevc = OMX_VIDEO_CodingHEVC, /**< keeping old enum for backwards compatibility*/ + QOMX_VIDEO_CodingMVC = 0x7FA30C07, + QOMX_VIDEO_CodingVp9 = OMX_VIDEO_CodingVP9, /**< keeping old enum for backwards compatibility*/ +}; + +enum OMX_QCOM_EXTN_INDEXTYPE +{ + /** Qcom proprietary extension index list */ + + /* "OMX.QCOM.index.param.register_mmap" */ + OMX_QcomIndexRegmmap = 0x7F000000, + + /* "OMX.QCOM.index.param.platformprivate" */ + OMX_QcomIndexPlatformPvt = 0x7F000001, + + /* "OMX.QCOM.index.param.portdefn" */ + OMX_QcomIndexPortDefn = 0x7F000002, + + /* "OMX.QCOM.index.param.framepackingformat" */ + OMX_QcomIndexPortFramePackFmt = 0x7F000003, + + /*"OMX.QCOM.index.param.Interlaced */ + OMX_QcomIndexParamInterlaced = 0x7F000004, + + /*"OMX.QCOM.index.config.interlaceformat */ + OMX_QcomIndexConfigInterlaced = 0x7F000005, + + /*"OMX.QCOM.index.param.syntaxhdr" */ + QOMX_IndexParamVideoSyntaxHdr = 0x7F000006, + + /*"OMX.QCOM.index.config.intraperiod" */ + QOMX_IndexConfigVideoIntraperiod = 0x7F000007, + + /*"OMX.QCOM.index.config.randomIntrarefresh" */ + QOMX_IndexConfigVideoIntraRefresh = 0x7F000008, + + /*"OMX.QCOM.index.config.video.TemporalSpatialTradeOff" */ + QOMX_IndexConfigVideoTemporalSpatialTradeOff = 0x7F000009, + + /*"OMX.QCOM.index.param.video.EncoderMode" */ + QOMX_IndexParamVideoEncoderMode = 0x7F00000A, + + /*"OMX.QCOM.index.param.Divxtype */ + OMX_QcomIndexParamVideoDivx = 0x7F00000B, + + /*"OMX.QCOM.index.param.Sparktype */ + OMX_QcomIndexParamVideoSpark = 0x7F00000C, + + /*"OMX.QCOM.index.param.Vptype */ + OMX_QcomIndexParamVideoVp = 0x7F00000D, + + OMX_QcomIndexQueryNumberOfVideoDecInstance = 0x7F00000E, + + OMX_QcomIndexParamVideoSyncFrameDecodingMode = 0x7F00000F, + + OMX_QcomIndexParamVideoDecoderPictureOrder = 0x7F000010, + + /* "OMX.QCOM.index.config.video.FramePackingInfo" */ + OMX_QcomIndexConfigVideoFramePackingArrangement = 0x7F000011, + + OMX_QcomIndexParamConcealMBMapExtraData = 0x7F000012, + + OMX_QcomIndexParamFrameInfoExtraData = 0x7F000013, + + OMX_QcomIndexParamInterlaceExtraData = 0x7F000014, + + OMX_QcomIndexParamH264TimeInfo = 0x7F000015, + + OMX_QcomIndexParamIndexExtraDataType = 0x7F000016, + + OMX_GoogleAndroidIndexEnableAndroidNativeBuffers = 0x7F000017, + + OMX_GoogleAndroidIndexUseAndroidNativeBuffer = 0x7F000018, + + OMX_GoogleAndroidIndexGetAndroidNativeBufferUsage = 0x7F000019, + + /*"OMX.QCOM.index.config.video.QPRange" */ + OMX_QcomIndexConfigVideoQPRange = 0x7F00001A, + + /*"OMX.QCOM.index.param.EnableTimeStampReoder"*/ + OMX_QcomIndexParamEnableTimeStampReorder = 0x7F00001B, + + /*"OMX.google.android.index.storeMetaDataInBuffers"*/ + OMX_QcomIndexParamVideoMetaBufferMode = 0x7F00001C, + + /*"OMX.google.android.index.useAndroidNativeBuffer2"*/ + OMX_GoogleAndroidIndexUseAndroidNativeBuffer2 = 0x7F00001D, + + /*"OMX.QCOM.index.param.VideoMaxAllowedBitrateCheck"*/ + OMX_QcomIndexParamVideoMaxAllowedBitrateCheck = 0x7F00001E, + + OMX_QcomIndexEnableSliceDeliveryMode = 0x7F00001F, + + /* "OMX.QCOM.index.param.video.ExtnUserExtraData" */ + OMX_QcomIndexEnableExtnUserData = 0x7F000020, + + /*"OMX.QCOM.index.param.video.EnableSmoothStreaming"*/ + OMX_QcomIndexParamEnableSmoothStreaming = 0x7F000021, + + /*"OMX.QCOM.index.param.video.QPRange" */ + OMX_QcomIndexParamVideoQPRange = 0x7F000022, + + OMX_QcomIndexEnableH263PlusPType = 0x7F000023, + + /*"OMX.QCOM.index.param.video.LTRCountRangeSupported"*/ + QOMX_IndexParamVideoLTRCountRangeSupported = 0x7F000024, + + /*"OMX.QCOM.index.param.video.LTRMode"*/ + QOMX_IndexParamVideoLTRMode = 0x7F000025, + + /*"OMX.QCOM.index.param.video.LTRCount"*/ + QOMX_IndexParamVideoLTRCount = 0x7F000026, + + /*"OMX.QCOM.index.config.video.LTRPeriod"*/ + QOMX_IndexConfigVideoLTRPeriod = 0x7F000027, + + /*"OMX.QCOM.index.config.video.LTRUse"*/ + QOMX_IndexConfigVideoLTRUse = 0x7F000028, + + /*"OMX.QCOM.index.config.video.LTRMark"*/ + QOMX_IndexConfigVideoLTRMark = 0x7F000029, + + /* OMX.google.android.index.prependSPSPPSToIDRFrames */ + OMX_QcomIndexParamSequenceHeaderWithIDR = 0x7F00002A, + + OMX_QcomIndexParamH264AUDelimiter = 0x7F00002B, + + OMX_QcomIndexParamVideoDownScalar = 0x7F00002C, + + /* "OMX.QCOM.index.param.video.FramePackingExtradata" */ + OMX_QcomIndexParamVideoFramePackingExtradata = 0x7F00002D, + + /* "OMX.QCOM.index.config.activeregiondetection" */ + OMX_QcomIndexConfigActiveRegionDetection = 0x7F00002E, + + /* "OMX.QCOM.index.config.activeregiondetectionstatus" */ + OMX_QcomIndexConfigActiveRegionDetectionStatus = 0x7F00002F, + + /* "OMX.QCOM.index.config.scalingmode" */ + OMX_QcomIndexConfigScalingMode = 0x7F000030, + + /* "OMX.QCOM.index.config.noisereduction" */ + OMX_QcomIndexConfigNoiseReduction = 0x7F000031, + + /* "OMX.QCOM.index.config.imageenhancement" */ + OMX_QcomIndexConfigImageEnhancement = 0x7F000032, + + /* google smooth-streaming support */ + OMX_QcomIndexParamVideoAdaptivePlaybackMode = 0x7F000033, + + /* H.264 MVC codec index */ + QOMX_IndexParamVideoMvc = 0x7F000034, + + /* "OMX.QCOM.index.param.video.QPExtradata" */ + OMX_QcomIndexParamVideoQPExtraData = 0x7F000035, + + /* "OMX.QCOM.index.param.video.InputBitsInfoExtradata" */ + OMX_QcomIndexParamVideoInputBitsInfoExtraData = 0x7F000036, + + /* VP8 Hierarchical P support */ + OMX_QcomIndexHierarchicalStructure = 0x7F000037, + + OMX_QcomIndexParamPerfLevel = 0x7F000038, + + OMX_QcomIndexParamH264VUITimingInfo = 0x7F000039, + + OMX_QcomIndexParamPeakBitrate = 0x7F00003A, + + /* Enable InitialQP index */ + QOMX_IndexParamVideoInitialQp = 0x7F00003B, + + OMX_QcomIndexParamSetMVSearchrange = 0x7F00003C, + + OMX_QcomIndexConfigPerfLevel = 0x7F00003D, + + /*"OMX.QCOM.index.param.video.LTRCount"*/ + OMX_QcomIndexParamVideoLTRCount = QOMX_IndexParamVideoLTRCount, + + /*"OMX.QCOM.index.config.video.LTRUse"*/ + OMX_QcomIndexConfigVideoLTRUse = QOMX_IndexConfigVideoLTRUse, + + /*"OMX.QCOM.index.config.video.LTRMark"*/ + OMX_QcomIndexConfigVideoLTRMark = QOMX_IndexConfigVideoLTRMark, + + /*"OMX.QCOM.index.param.video.CustomBufferSize"*/ + OMX_QcomIndexParamVideoCustomBufferSize = 0x7F00003E, + + /* Max Hierarchical P layers */ + OMX_QcomIndexMaxHierarchicallayers = 0x7F000041, + + /* Set Encoder Performance Index */ + OMX_QcomIndexConfigVideoVencPerfMode = 0x7F000042, + + /* Set Hybrid Hier-p layers */ + OMX_QcomIndexParamVideoHybridHierpMode = 0x7F000043, + + OMX_QcomIndexFlexibleYUVDescription = 0x7F000044, + + /* Vpp Hqv Control Type */ + OMX_QcomIndexParamVppHqvControl = 0x7F000045, + + /* Enable VPP */ + OMX_QcomIndexParamEnableVpp = 0x7F000046, + + /* MBI statistics mode */ + OMX_QcomIndexParamMBIStatisticsMode = 0x7F000047, + + /* Set PictureTypeDecode */ + OMX_QcomIndexConfigPictureTypeDecode = 0x7F000048, + + OMX_QcomIndexConfigH264EntropyCodingCabac = 0x7F000049, + + /* "OMX.QCOM.index.param.video.InputBatch" */ + OMX_QcomIndexParamBatchSize = 0x7F00004A, + + OMX_QcomIndexConfigNumHierPLayers = 0x7F00004B, + + OMX_QcomIndexConfigRectType = 0x7F00004C, + + OMX_QcomIndexConfigBaseLayerId = 0x7F00004E, + + OMX_QcomIndexParamDriverVersion = 0x7F00004F, + + OMX_QcomIndexConfigQp = 0x7F000050, + + OMX_QcomIndexParamVencAspectRatio = 0x7F000051, + + OMX_QTIIndexParamVQZipSEIExtraData = 0x7F000052, + + /* Enable VQZIP SEI NAL type */ + OMX_QTIIndexParamVQZIPSEIType = 0x7F000053, + + OMX_QTIIndexParamPassInputBufferFd = 0x7F000054, + + /* Set Prefer-adaptive playback*/ + /* "OMX.QTI.index.param.video.PreferAdaptivePlayback" */ + OMX_QTIIndexParamVideoPreferAdaptivePlayback = 0x7F000055, + + /* Set time params */ + OMX_QTIIndexConfigSetTimeData = 0x7F000056, + /* Force Compressed format for DPB when resolution <=1080p + * and OPB is cpu_access */ + /* OMX.QTI.index.param.video.ForceCompressedForDPB */ + OMX_QTIIndexParamForceCompressedForDPB = 0x7F000057, + + /* Enable ROI info */ + OMX_QTIIndexParamVideoEnableRoiInfo = 0x7F000058, + + /* Configure ROI info */ + OMX_QTIIndexConfigVideoRoiInfo = 0x7F000059, + + /* Set Low Latency Mode */ + OMX_QTIIndexParamLowLatencyMode = 0x7F00005A, + + /* Force OPB to UnCompressed mode */ + OMX_QTIIndexParamForceUnCompressedForOPB = 0x7F00005B, + +}; + +/** +* This is custom extension to configure Low Latency Mode. +* +* STRUCT MEMBERS +* +* nSize : Size of Structure in bytes +* nVersion : OpenMAX IL specification version information +* bLowLatencyMode : Enable/Disable Low Latency mode +*/ + +typedef struct QOMX_EXTNINDEX_VIDEO_VENC_LOW_LATENCY_MODE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_BOOL bLowLatencyMode; +} QOMX_EXTNINDEX_VIDEO_VENC_LOW_LATENCY_MODE; + +/** +* This is custom extension to configure Encoder Aspect Ratio. +* +* STRUCT MEMBERS +* +* nSize : Size of Structure in bytes +* nVersion : OpenMAX IL specification version information +* nSARWidth : Horizontal aspect size +* nSARHeight : Vertical aspect size +*/ + +typedef struct QOMX_EXTNINDEX_VIDEO_VENC_SAR +{ + OMX_U32 nSize; + OMX_U32 nVersion; + OMX_U32 nSARWidth; + OMX_U32 nSARHeight; +} QOMX_EXTNINDEX_VIDEO_VENC_SAR; + +/** +* This is custom extension to configure Hier-p layers. +* This mode configures Hier-p layers dynamically. +* +* STRUCT MEMBERS +* +* nSize : Size of Structure in bytes +* nVersion : OpenMAX IL specification version information +* nNumHierLayers: Set the number of Hier-p layers for the session +* - This should be less than the MAX Hier-P +* layers set for the session. +*/ + +typedef struct QOMX_EXTNINDEX_VIDEO_HIER_P_LAYERS { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nNumHierLayers; +} QOMX_EXTNINDEX_VIDEO_HIER_P_LAYERS; + + +/** +* This is custom extension to configure Hybrid Hier-p settings. +* This mode is different from enabling Hier-p mode. This +* property enables Hier-p encoding with LTR referencing in each +* sub-GOP. +* +* STRUCT MEMBERS +* +* nSize : Size of Structure in bytes +* nVersion : OpenMAX IL specification version information +* nKeyFrameInterval : Indicates the I frame interval +* nHpLayers : Set the number of Hier-p layers for the session +* - This should be <= 6. (1 Base layer + +* 5 Enhancement layers) +* nTemporalLayerBitrateRatio[OMX_VIDEO_MAX_HP_LAYERS] : Bitrate to +* be set for each enhancement layer +* nMinQuantizer : minimum session QP +* nMaxQuantizer : Maximun session QP +*/ + +typedef struct QOMX_EXTNINDEX_VIDEO_HYBRID_HP_MODE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nKeyFrameInterval; + OMX_U32 nTemporalLayerBitrateRatio[OMX_VIDEO_MAX_HP_LAYERS]; + OMX_U32 nMinQuantizer; + OMX_U32 nMaxQuantizer; + OMX_U32 nHpLayers; +} QOMX_EXTNINDEX_VIDEO_HYBRID_HP_MODE; + +/** + * Encoder Performance Mode. This structure is used to set + * performance mode or power save mode when encoding. The search + * range is modified to save power or improve quality. + * + * STRUCT MEMBERS: + * OMX_U32 nPerfMode : Performance mode: + * 1: MAX_QUALITY + * 2: POWER_SAVE + */ + +typedef struct QOMX_EXTNINDEX_VIDEO_PERFMODE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPerfMode; +} QOMX_EXTNINDEX_VIDEO_PERFMODE; + +/** + * Initial QP parameter. This structure is used to enable + * vendor specific extension to let client enable setting + * initial QP values to I P B Frames + * + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * OMX_U32 nQpI : First Iframe QP + * OMX_U32 nQpP : First Pframe QP + * OMX_U32 nQpB : First Bframe QP + * OMX_U32 bEnableInitQp : Bit field indicating which frame type(s) shall + * use the specified initial QP. + * Bit 0: Enable initial QP for I/IDR + * and use value specified in nInitQpI + * Bit 1: Enable initial QP for P + * and use value specified in nInitQpP + * Bit 2: Enable initial QP for B + * and use value specified in nInitQpB + */ + +typedef struct QOMX_EXTNINDEX_VIDEO_INITIALQP { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nQpI; + OMX_U32 nQpP; + OMX_U32 nQpB; + OMX_U32 bEnableInitQp; +} QOMX_EXTNINDEX_VIDEO_INITIALQP; + +/** + * Extension index parameter. This structure is used to enable + * vendor specific extension on input/output port and + * to pass the required flags and data, if any. + * The format of flags and data being passed is known to + * the client and component apriori. + * + * STRUCT MEMBERS: + * nSize : Size of Structure plus pData size + * nVersion : OMX specification version information + * nPortIndex : Indicates which port to set + * bEnable : Extension index enable (1) or disable (0) + * nFlags : Extension index flags, if any + * nDataSize : Size of the extension index data to follow + * pData : Extension index data, if present. + */ +typedef struct QOMX_EXTNINDEX_PARAMTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnable; + OMX_U32 nFlags; + OMX_U32 nDataSize; + OMX_PTR pData; +} QOMX_EXTNINDEX_PARAMTYPE; + +/** + * Range index parameter. This structure is used to enable + * vendor specific extension on input/output port and + * to pass the required minimum and maximum values + * + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * nMin : Minimum value + * nMax : Maximum value + * nSteSize : Step size + */ +typedef struct QOMX_EXTNINDEX_RANGETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_S32 nMin; + OMX_S32 nMax; + OMX_S32 nStepSize; +} QOMX_EXTNINDEX_RANGETYPE; + +/** + * Specifies LTR mode types. + */ +typedef enum QOMX_VIDEO_LTRMODETYPE +{ + QOMX_VIDEO_LTRMode_Disable = 0x0, /**< LTR encoding is disabled */ + QOMX_VIDEO_LTRMode_Manual = 0x1, /**< In this mode, IL client configures + ** the encoder the LTR count and manually + ** controls the marking and use of LTR + ** frames during video encoding. + */ + QOMX_VIDEO_LTRMode_Auto = 0x2, /**< In this mode, IL client configures + ** the encoder the LTR count and LTR + ** period. The encoder marks LTR frames + ** automatically based on the LTR period + ** during video encoding. IL client controls + ** the use of LTR frames. + */ + QOMX_VIDEO_LTRMode_MAX = 0x7FFFFFFF /** Maximum LTR Mode type */ +} QOMX_VIDEO_LTRMODETYPE; + +/** + * LTR mode index parameter. This structure is used + * to enable vendor specific extension on output port + * to pass the LTR mode information. + * + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * eLTRMode : Specifies the LTR mode used in encoder + */ +typedef struct QOMX_VIDEO_PARAM_LTRMODE_TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + QOMX_VIDEO_LTRMODETYPE eLTRMode; +} QOMX_VIDEO_PARAM_LTRMODE_TYPE; + +/** + * LTR count index parameter. This structure is used + * to enable vendor specific extension on output port + * to pass the LTR count information. + * + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * nCount : Specifies the number of LTR frames stored in the + * encoder component + */ +typedef struct QOMX_VIDEO_PARAM_LTRCOUNT_TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nCount; +} QOMX_VIDEO_PARAM_LTRCOUNT_TYPE; + + +/** + * This should be used with OMX_QcomIndexParamVideoLTRCount extension. + */ +typedef QOMX_VIDEO_PARAM_LTRCOUNT_TYPE OMX_QCOM_VIDEO_PARAM_LTRCOUNT_TYPE; + +/** + * LTR period index parameter. This structure is used + * to enable vendor specific extension on output port + * to pass the LTR period information. + * + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * nFrames : Specifies the number of frames between two consecutive + * LTR frames. + */ +typedef struct QOMX_VIDEO_CONFIG_LTRPERIOD_TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nFrames; +} QOMX_VIDEO_CONFIG_LTRPERIOD_TYPE; + +/** + * Marks the next encoded frame as an LTR frame. + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * nID : Specifies the identifier of the LTR frame to be marked + * as reference frame for encoding subsequent frames. + */ +typedef struct QOMX_VIDEO_CONFIG_LTRMARK_TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nID; +} QOMX_VIDEO_CONFIG_LTRMARK_TYPE; + +/** + * This should be used with OMX_QcomIndexConfigVideoLTRMark extension. + */ +typedef QOMX_VIDEO_CONFIG_LTRMARK_TYPE OMX_QCOM_VIDEO_CONFIG_LTRMARK_TYPE; + +/** + * Specifies an LTR frame to encode subsequent frames. + * STRUCT MEMBERS: + * nSize : Size of Structure in bytes + * nVersion : OpenMAX IL specification version information + * nPortIndex : Index of the port to which this structure applies + * nID : Specifies the identifier of the LTR frame to be used + as reference frame for encoding subsequent frames. + * nFrames : Specifies the number of subsequent frames to be + encoded using the LTR frame with its identifier + nID as reference frame. Short-term reference frames + will be used thereafter. The value of 0xFFFFFFFF + indicates that all subsequent frames will be + encodedusing this LTR frame as reference frame. + */ +typedef struct QOMX_VIDEO_CONFIG_LTRUSE_TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nID; + OMX_U32 nFrames; +} QOMX_VIDEO_CONFIG_LTRUSE_TYPE; + +/** + * This should be used with OMX_QcomIndexConfigVideoLTRUse extension. + */ +typedef QOMX_VIDEO_CONFIG_LTRUSE_TYPE OMX_QCOM_VIDEO_CONFIG_LTRUSE_TYPE; + +/** + * Enumeration used to define the video encoder modes + * + * ENUMS: + * EncoderModeDefault : Default video recording mode. + * All encoder settings made through + * OMX_SetParameter/OMX_SetConfig are applied. No + * parameter is overridden. + * EncoderModeMMS : Video recording mode for MMS (Multimedia Messaging + * Service). This mode is similar to EncoderModeDefault + * except that here the Rate control mode is overridden + * internally and set as a variant of variable bitrate with + * variable frame rate. After this mode is set if the IL + * client tries to set OMX_VIDEO_CONTROLRATETYPE via + * OMX_IndexParamVideoBitrate that would be rejected. For + * this, client should set mode back to EncoderModeDefault + * first and then change OMX_VIDEO_CONTROLRATETYPE. + */ +typedef enum QOMX_VIDEO_ENCODERMODETYPE +{ + QOMX_VIDEO_EncoderModeDefault = 0x00, + QOMX_VIDEO_EncoderModeMMS = 0x01, + QOMX_VIDEO_EncoderModeMax = 0x7FFFFFFF +} QOMX_VIDEO_ENCODERMODETYPE; + +/** + * This structure is used to set the video encoder mode. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version info + * nPortIndex : Port that this structure applies to + * nMode : defines the video encoder mode + */ +typedef struct QOMX_VIDEO_PARAM_ENCODERMODETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + QOMX_VIDEO_ENCODERMODETYPE nMode; +} QOMX_VIDEO_PARAM_ENCODERMODETYPE; + +/** + * This structure describes the parameters corresponding to the + * QOMX_VIDEO_SYNTAXHDRTYPE extension. This parameter can be queried + * during the loaded state. + */ + +typedef struct QOMX_VIDEO_SYNTAXHDRTYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nBytes; /** The number of bytes filled in to the buffer */ + OMX_U8 data[1]; /** Buffer to store the header information */ +} QOMX_VIDEO_SYNTAXHDRTYPE; + +/** + * This structure describes the parameters corresponding to the + * QOMX_VIDEO_TEMPORALSPATIALTYPE extension. This parameter can be set + * dynamically during any state except the state invalid. This is primarily + * used for setting MaxQP from the application. This is set on the out port. + */ + +typedef struct QOMX_VIDEO_TEMPORALSPATIALTYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nTSFactor; /** Temoral spatial tradeoff factor value in 0-100 */ +} QOMX_VIDEO_TEMPORALSPATIALTYPE; + +/** + * This structure describes the parameters corresponding to the + * OMX_QCOM_VIDEO_CONFIG_INTRAPERIODTYPE extension. This parameter can be set + * dynamically during any state except the state invalid. This is set on the out port. + */ + +typedef struct QOMX_VIDEO_INTRAPERIODTYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nIDRPeriod; /** This specifies coding a frame as IDR after every nPFrames + of intra frames. If this parameter is set to 0, only the + first frame of the encode session is an IDR frame. This + field is ignored for non-AVC codecs and is used only for + codecs that support IDR Period */ + OMX_U32 nPFrames; /** The number of "P" frames between two "I" frames */ + OMX_U32 nBFrames; /** The number of "B" frames between two "I" frames */ +} QOMX_VIDEO_INTRAPERIODTYPE; + +/** + * This structure describes the parameters corresponding to the + * OMX_QCOM_VIDEO_CONFIG_ULBUFFEROCCUPANCYTYPE extension. This parameter can be set + * dynamically during any state except the state invalid. This is used for the buffer negotiation + * with other clients. This is set on the out port. + */ +typedef struct OMX_QCOM_VIDEO_CONFIG_ULBUFFEROCCUPANCYTYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nBufferOccupancy; /** The number of bytes to be set for the buffer occupancy */ +} OMX_QCOM_VIDEO_CONFIG_ULBUFFEROCCUPANCYTYPE; + +/** + * This structure describes the parameters corresponding to the + * OMX_QCOM_VIDEO_CONFIG_RANDOMINTRAREFRESHTYPE extension. This parameter can be set + * dynamically during any state except the state invalid. This is primarily used for the dynamic/random + * intrarefresh. This is set on the out port. + */ +typedef struct OMX_QCOM_VIDEO_CONFIG_RANDOMINTRAREFRESHTYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nRirMBs; /** The number of MBs to be set for intrarefresh */ +} OMX_QCOM_VIDEO_CONFIG_RANDOMINTRAREFRESHTYPE; + + +/** + * This structure describes the parameters corresponding to the + * OMX_QCOM_VIDEO_CONFIG_QPRANGE extension. This parameter can be set + * dynamically during any state except the state invalid. This is primarily + * used for the min/max QP to be set from the application. This + * is set on the out port. + */ +typedef struct OMX_QCOM_VIDEO_CONFIG_QPRANGE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nMinQP; /** The number for minimum quantization parameter */ + OMX_U32 nMaxQP; /** The number for maximum quantization parameter */ +} OMX_QCOM_VIDEO_CONFIG_QPRANGE; + +/** + * This structure describes the parameters for the + * OMX_QcomIndexParamH264AUDelimiter extension. It enables/disables + * the AU delimiters in the H264 stream, which is used by WFD. + */ +typedef struct OMX_QCOM_VIDEO_CONFIG_H264_AUD +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_BOOL bEnable; /** Enable/disable the setting */ +} OMX_QCOM_VIDEO_CONFIG_H264_AUD; + +typedef enum QOMX_VIDEO_PERF_LEVEL +{ + OMX_QCOM_PerfLevelNominal, + OMX_QCOM_PerfLevelTurbo +} QOMX_VIDEO_PERF_LEVEL; + +/** + * This structure describes the parameters corresponding + * to OMX_QcomIndexParamPerfLevel extension. It will set + * the performance mode specified as QOMX_VIDEO_PERF_LEVEL. + */ +typedef struct OMX_QCOM_VIDEO_PARAM_PERF_LEVEL { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + QOMX_VIDEO_PERF_LEVEL ePerfLevel; /** Performance level */ +} OMX_QCOM_VIDEO_PARAM_PERF_LEVEL; + +/** + * This structure describes the parameters corresponding + * to OMX_QcomIndexConfigPerfLevel extension. It will set + * the performance mode specified as QOMX_VIDEO_PERF_LEVEL. + */ +typedef struct OMX_QCOM_VIDEO_CONFIG_PERF_LEVEL { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + QOMX_VIDEO_PERF_LEVEL ePerfLevel; /** Performance level */ +} OMX_QCOM_VIDEO_CONFIG_PERF_LEVEL; + +typedef enum QOMX_VIDEO_PICTURE_TYPE_DECODE +{ + OMX_QCOM_PictypeDecode_IPB, + OMX_QCOM_PictypeDecode_I +} QOMX_VIDEO_PICTURE_TYPE_DECODE; + +/** + * This structure describes the parameters corresponding + * to OMX_QcomIndexConfigPictureTypeDecode extension. It + * will set the picture type decode specified by eDecodeType. + */ +typedef struct OMX_QCOM_VIDEO_CONFIG_PICTURE_TYPE_DECODE { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + QOMX_VIDEO_PICTURE_TYPE_DECODE eDecodeType; /** Decode type */ +} OMX_QCOM_VIDEO_CONFIG_PICTURE_TYPE_DECODE; + +/** + * This structure describes the parameters corresponding + * to OMX_QcomIndexParamH264VUITimingInfo extension. It + * will enable/disable the VUI timing info. + */ +typedef struct OMX_QCOM_VIDEO_PARAM_VUI_TIMING_INFO { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + OMX_BOOL bEnable; /** Enable/disable the setting */ +} OMX_QCOM_VIDEO_PARAM_VUI_TIMING_INFO; + +/** + * This structure describes the parameters corresponding + * to OMX_QcomIndexParamVQZIPSEIType extension. It + * will enable/disable the VQZIP SEI info. + */ +typedef struct OMX_QTI_VIDEO_PARAM_VQZIP_SEI_TYPE { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + OMX_BOOL bEnable; /** Enable/disable the setting */ +} OMX_QTI_VIDEO_PARAM_VQZIP_SEI_TYPE; + +/** + * This structure describes the parameters corresponding + * to OMX_QcomIndexParamPeakBitrate extension. It will + * set the peak bitrate specified by nPeakBitrate. + */ +typedef struct OMX_QCOM_VIDEO_PARAM_PEAK_BITRATE { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + OMX_U32 nPeakBitrate; /** Peak bitrate value */ +} OMX_QCOM_VIDEO_PARAM_PEAK_BITRATE; + +/** + * This structure describes the parameters corresponding + * to OMX_QTIIndexParamForceCompressedForDPB extension. Enabling + * this extension will force the split mode DPB(compressed)/OPB(Linear) + * for all resolutions.On some chipsets preferred mode would be combined + * Linear for both DPB/OPB to save memory. For example on 8996 preferred mode + * would be combined linear for resolutions <= 1080p . + * Enabling this might save power but with the cost + * of increased memory i.e almost double the number on output YUV buffers. + */ +typedef struct OMX_QTI_VIDEO_PARAM_FORCE_COMPRESSED_FOR_DPB_TYPE { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + OMX_BOOL bEnable; /** Enable/disable the setting */ +} OMX_QTI_VIDEO_PARAM_FORCE_COMPRESSED_FOR_DPB_TYPE; + +/** + * This structure describes the parameters corresponding + * to OMX_QTIIndexParamForceUnCompressedForOPB extension. Enabling this + * extension will force the OPB to be linear for the current video session. + * If this property is not set, then the OPB will be set to linear or compressed + * based on resolution selected and/or if cpu access is requested on the + * OPB buffer. + */ +typedef struct OMX_QTI_VIDEO_PARAM_FORCE_UNCOMPRESSED_FOR_OPB_TYPE { + OMX_U32 nSize; /** Sizeo f the structure in bytes */ + OMX_VERSIONTYPE nVersion; /** OMX specification version information */ + OMX_BOOL bEnable; /** Enable/disable the setting */ +} OMX_QTI_VIDEO_PARAM_FORCE_UNCOMPRESSED_FOR_OPB_TYPE; + +typedef struct OMX_VENDOR_EXTRADATATYPE { + OMX_U32 nPortIndex; + OMX_U32 nDataSize; + OMX_U8 *pData; // cdata (codec_data/extradata) +} OMX_VENDOR_EXTRADATATYPE; + +/** + * This structure describes the parameters corresponding to the + * OMX_VENDOR_VIDEOFRAMERATE extension. This parameter can be set + * dynamically during any state except the state invalid. This is + * used for frame rate to be set from the application. This + * is set on the in port. + */ +typedef struct OMX_VENDOR_VIDEOFRAMERATE { + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_U32 nFps; /** Frame rate value */ + OMX_BOOL bEnabled; /** Flag to enable or disable client's frame rate value */ +} OMX_VENDOR_VIDEOFRAMERATE; + +typedef enum OMX_INDEXVENDORTYPE { + OMX_IndexVendorFileReadInputFilename = 0xFF000001, + OMX_IndexVendorParser3gpInputFilename = 0xFF000002, + OMX_IndexVendorVideoExtraData = 0xFF000003, + OMX_IndexVendorAudioExtraData = 0xFF000004, + OMX_IndexVendorVideoFrameRate = 0xFF000005, +} OMX_INDEXVENDORTYPE; + +typedef enum OMX_QCOM_VC1RESOLUTIONTYPE +{ + OMX_QCOM_VC1_PICTURE_RES_1x1, + OMX_QCOM_VC1_PICTURE_RES_2x1, + OMX_QCOM_VC1_PICTURE_RES_1x2, + OMX_QCOM_VC1_PICTURE_RES_2x2 +} OMX_QCOM_VC1RESOLUTIONTYPE; + +typedef enum OMX_QCOM_INTERLACETYPE +{ + OMX_QCOM_InterlaceFrameProgressive, + OMX_QCOM_InterlaceInterleaveFrameTopFieldFirst, + OMX_QCOM_InterlaceInterleaveFrameBottomFieldFirst, + OMX_QCOM_InterlaceFrameTopFieldFirst, + OMX_QCOM_InterlaceFrameBottomFieldFirst, + OMX_QCOM_InterlaceFieldTop, + OMX_QCOM_InterlaceFieldBottom +}OMX_QCOM_INTERLACETYPE; + +typedef struct OMX_QCOM_PARAM_VIDEO_INTERLACETYPE +{ + OMX_U32 nSize; /** Size of the structure in bytes */ + OMX_VERSIONTYPE nVersion;/** OMX specification version information */ + OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ + OMX_BOOL bInterlace; /** Interlace content **/ +}OMX_QCOM_PARAM_VIDEO_INTERLACETYPE; + +typedef struct OMX_QCOM_CONFIG_INTERLACETYPE +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nIndex; + OMX_QCOM_INTERLACETYPE eInterlaceType; +}OMX_QCOM_CONFIG_INTERLACETYPE; + +#define MAX_PAN_SCAN_WINDOWS 4 + +typedef struct OMX_QCOM_PANSCAN +{ + OMX_U32 numWindows; + OMX_QCOMRectangle window[MAX_PAN_SCAN_WINDOWS]; +} OMX_QCOM_PANSCAN; + +typedef struct OMX_QCOM_ASPECT_RATIO +{ + OMX_U32 aspectRatioX; + OMX_U32 aspectRatioY; +} OMX_QCOM_ASPECT_RATIO; + +typedef struct OMX_QCOM_DISPLAY_ASPECT_RATIO +{ + OMX_U32 displayVerticalSize; + OMX_U32 displayHorizontalSize; +} OMX_QCOM_DISPLAY_ASPECT_RATIO; + +typedef struct OMX_QCOM_FRAME_PACK_ARRANGEMENT +{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 id; + OMX_U32 cancel_flag; + OMX_U32 type; + OMX_U32 quincunx_sampling_flag; + OMX_U32 content_interpretation_type; + OMX_U32 spatial_flipping_flag; + OMX_U32 frame0_flipped_flag; + OMX_U32 field_views_flag; + OMX_U32 current_frame_is_frame0_flag; + OMX_U32 frame0_self_contained_flag; + OMX_U32 frame1_self_contained_flag; + OMX_U32 frame0_grid_position_x; + OMX_U32 frame0_grid_position_y; + OMX_U32 frame1_grid_position_x; + OMX_U32 frame1_grid_position_y; + OMX_U32 reserved_byte; + OMX_U32 repetition_period; + OMX_U32 extension_flag; +} OMX_QCOM_FRAME_PACK_ARRANGEMENT; + +typedef struct OMX_QCOM_EXTRADATA_QP +{ + OMX_U32 nQP; +} OMX_QCOM_EXTRADATA_QP; + +typedef struct OMX_QCOM_EXTRADATA_BITS_INFO +{ + OMX_U32 header_bits; + OMX_U32 frame_bits; +} OMX_QCOM_EXTRADATA_BITS_INFO; + +typedef struct OMX_QCOM_EXTRADATA_USERDATA { + OMX_U32 type; + OMX_U32 data[1]; +} OMX_QCOM_EXTRADATA_USERDATA; + +typedef struct OMX_QCOM_EXTRADATA_FRAMEINFO +{ + // common frame meta data. interlace related info removed + OMX_VIDEO_PICTURETYPE ePicType; + OMX_QCOM_INTERLACETYPE interlaceType; + OMX_QCOM_PANSCAN panScan; + OMX_QCOM_ASPECT_RATIO aspectRatio; + OMX_QCOM_DISPLAY_ASPECT_RATIO displayAspectRatio; + OMX_U32 nConcealedMacroblocks; + OMX_U32 nFrameRate; + OMX_TICKS nTimeStamp; +} OMX_QCOM_EXTRADATA_FRAMEINFO; + +typedef struct OMX_QCOM_EXTRADATA_FRAMEDIMENSION +{ + /** Frame Dimensions added to each YUV buffer */ + OMX_U32 nDecWidth; /** Width rounded to multiple of 16 */ + OMX_U32 nDecHeight; /** Height rounded to multiple of 16 */ + OMX_U32 nActualWidth; /** Actual Frame Width */ + OMX_U32 nActualHeight; /** Actual Frame Height */ + +} OMX_QCOM_EXTRADATA_FRAMEDIMENSION; + +typedef struct OMX_QCOM_H264EXTRADATA +{ + OMX_U64 seiTimeStamp; +} OMX_QCOM_H264EXTRADATA; + +typedef struct OMX_QCOM_VC1EXTRADATA +{ + OMX_U32 nVC1RangeY; + OMX_U32 nVC1RangeUV; + OMX_QCOM_VC1RESOLUTIONTYPE eVC1PicResolution; +} OMX_QCOM_VC1EXTRADATA; + +typedef union OMX_QCOM_EXTRADATA_CODEC_DATA +{ + OMX_QCOM_H264EXTRADATA h264ExtraData; + OMX_QCOM_VC1EXTRADATA vc1ExtraData; +} OMX_QCOM_EXTRADATA_CODEC_DATA; + +typedef struct OMX_QCOM_EXTRADATA_MBINFO +{ + OMX_U32 nFormat; + OMX_U32 nDataSize; + OMX_U8 data[0]; +} OMX_QCOM_EXTRADATA_MBINFO; + +typedef struct OMX_QCOM_EXTRADATA_VQZIPSEI { + OMX_U32 nSize; + OMX_U8 data[0]; +} OMX_QCOM_EXTRADATA_VQZIPSEI; + +typedef struct OMX_QTI_VIDEO_PARAM_ENABLE_ROIINFO { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnableRoiInfo; +} OMX_QTI_VIDEO_PARAM_ENABLE_ROIINFO; + +typedef struct OMX_QTI_VIDEO_CONFIG_ROIINFO { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_S32 nUpperQpOffset; + OMX_S32 nLowerQpOffset; + OMX_BOOL bUseRoiInfo; + OMX_S32 nRoiMBInfoSize; + OMX_PTR pRoiMBInfo; +} OMX_QTI_VIDEO_CONFIG_ROIINFO; + +typedef enum OMX_QCOM_EXTRADATATYPE +{ + OMX_ExtraDataFrameInfo = 0x7F000001, + OMX_ExtraDataH264 = 0x7F000002, + OMX_ExtraDataVC1 = 0x7F000003, + OMX_ExtraDataFrameDimension = 0x7F000004, + OMX_ExtraDataVideoEncoderSliceInfo = 0x7F000005, + OMX_ExtraDataConcealMB = 0x7F000006, + OMX_ExtraDataInterlaceFormat = 0x7F000007, + OMX_ExtraDataPortDef = 0x7F000008, + OMX_ExtraDataMP2ExtnData = 0x7F000009, + OMX_ExtraDataMP2UserData = 0x7F00000a, + OMX_ExtraDataVideoLTRInfo = 0x7F00000b, + OMX_ExtraDataFramePackingArrangement = 0x7F00000c, + OMX_ExtraDataQP = 0x7F00000d, + OMX_ExtraDataInputBitsInfo = 0x7F00000e, + OMX_ExtraDataVideoEncoderMBInfo = 0x7F00000f, + OMX_ExtraDataVQZipSEI = 0x7F000010, +} OMX_QCOM_EXTRADATATYPE; + +typedef struct OMX_STREAMINTERLACEFORMATTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bInterlaceFormat; + OMX_U32 nInterlaceFormats; +} OMX_STREAMINTERLACEFORMAT; + +typedef enum OMX_INTERLACETYPE +{ + OMX_InterlaceFrameProgressive, + OMX_InterlaceInterleaveFrameTopFieldFirst, + OMX_InterlaceInterleaveFrameBottomFieldFirst, + OMX_InterlaceFrameTopFieldFirst, + OMX_InterlaceFrameBottomFieldFirst +} OMX_INTERLACES; + + +#define OMX_EXTRADATA_HEADER_SIZE 20 + +/** + * AVC profile types, each profile indicates support for various + * performance bounds and different annexes. + */ +typedef enum QOMX_VIDEO_AVCPROFILETYPE { + QOMX_VIDEO_AVCProfileBaseline = OMX_VIDEO_AVCProfileBaseline, + QOMX_VIDEO_AVCProfileMain = OMX_VIDEO_AVCProfileMain, + QOMX_VIDEO_AVCProfileExtended = OMX_VIDEO_AVCProfileExtended, + QOMX_VIDEO_AVCProfileHigh = OMX_VIDEO_AVCProfileHigh, + QOMX_VIDEO_AVCProfileHigh10 = OMX_VIDEO_AVCProfileHigh10, + QOMX_VIDEO_AVCProfileHigh422 = OMX_VIDEO_AVCProfileHigh422, + QOMX_VIDEO_AVCProfileHigh444 = OMX_VIDEO_AVCProfileHigh444, + /* QCom specific profile indexes */ + QOMX_VIDEO_AVCProfileConstrained = OMX_VIDEO_AVCProfileVendorStartUnused, + QOMX_VIDEO_AVCProfileConstrainedBaseline, + QOMX_VIDEO_AVCProfileConstrainedHigh, +} QOMX_VIDEO_AVCPROFILETYPE; + + +/** + * H.264 MVC Profiles + */ +typedef enum QOMX_VIDEO_MVCPROFILETYPE { + QOMX_VIDEO_MVCProfileStereoHigh = 0x1, + QOMX_VIDEO_MVCProfileMultiViewHigh = 0x2, + QOMX_VIDEO_MVCProfileKhronosExtensions = 0x6F000000, + QOMX_VIDEO_MVCProfileVendorStartUnused = 0x7F000000, + QOMX_VIDEO_MVCProfileMax = 0x7FFFFFFF +} QOMX_VIDEO_MVCPROFILETYPE; + +/** + * H.264 MVC Levels + */ +typedef enum QOMX_VIDEO_MVCLEVELTYPE { + QOMX_VIDEO_MVCLevel1 = 0x01, /**< Level 1 */ + QOMX_VIDEO_MVCLevel1b = 0x02, /**< Level 1b */ + QOMX_VIDEO_MVCLevel11 = 0x04, /**< Level 1.1 */ + QOMX_VIDEO_MVCLevel12 = 0x08, /**< Level 1.2 */ + QOMX_VIDEO_MVCLevel13 = 0x10, /**< Level 1.3 */ + QOMX_VIDEO_MVCLevel2 = 0x20, /**< Level 2 */ + QOMX_VIDEO_MVCLevel21 = 0x40, /**< Level 2.1 */ + QOMX_VIDEO_MVCLevel22 = 0x80, /**< Level 2.2 */ + QOMX_VIDEO_MVCLevel3 = 0x100, /**< Level 3 */ + QOMX_VIDEO_MVCLevel31 = 0x200, /**< Level 3.1 */ + QOMX_VIDEO_MVCLevel32 = 0x400, /**< Level 3.2 */ + QOMX_VIDEO_MVCLevel4 = 0x800, /**< Level 4 */ + QOMX_VIDEO_MVCLevel41 = 0x1000, /**< Level 4.1 */ + QOMX_VIDEO_MVCLevel42 = 0x2000, /**< Level 4.2 */ + QOMX_VIDEO_MVCLevel5 = 0x4000, /**< Level 5 */ + QOMX_VIDEO_MVCLevel51 = 0x8000, /**< Level 5.1 */ + QOMX_VIDEO_MVCLevelKhronosExtensions = 0x6F000000, + QOMX_VIDEO_MVCLevelVendorStartUnused = 0x7F000000, + QOMX_VIDEO_MVCLevelMax = 0x7FFFFFFF +} QOMX_VIDEO_MVCLEVELTYPE; + +/** + * DivX Versions + */ +typedef enum QOMX_VIDEO_DIVXFORMATTYPE { + QOMX_VIDEO_DIVXFormatUnused = 0x01, /**< Format unused or unknown */ + QOMX_VIDEO_DIVXFormat311 = 0x02, /**< DivX 3.11 */ + QOMX_VIDEO_DIVXFormat4 = 0x04, /**< DivX 4 */ + QOMX_VIDEO_DIVXFormat5 = 0x08, /**< DivX 5 */ + QOMX_VIDEO_DIVXFormat6 = 0x10, /**< DivX 6 */ + QOMX_VIDEO_DIVXFormatKhronosExtensions = 0x6F000000, + QOMX_VIDEO_DIVXFormatVendorStartUnused = 0x7F000000, + QOMX_VIDEO_DIVXFormatMax = 0x7FFFFFFF +} QOMX_VIDEO_DIVXFORMATTYPE; + +/** + * DivX profile types, each profile indicates support for + * various performance bounds. + */ +typedef enum QOMX_VIDEO_DIVXPROFILETYPE { + QOMX_VIDEO_DivXProfileqMobile = 0x01, /**< qMobile Profile */ + QOMX_VIDEO_DivXProfileMobile = 0x02, /**< Mobile Profile */ + QOMX_VIDEO_DivXProfileMT = 0x04, /**< Mobile Theatre Profile */ + QOMX_VIDEO_DivXProfileHT = 0x08, /**< Home Theatre Profile */ + QOMX_VIDEO_DivXProfileHD = 0x10, /**< High Definition Profile */ + QOMX_VIDEO_DIVXProfileKhronosExtensions = 0x6F000000, + QOMX_VIDEO_DIVXProfileVendorStartUnused = 0x7F000000, + QOMX_VIDEO_DIVXProfileMax = 0x7FFFFFFF +} QOMX_VIDEO_DIVXPROFILETYPE; + +/** + * DivX Video Params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFormat : Version of DivX stream / data + * eProfile : Profile of DivX stream / data + */ +typedef struct QOMX_VIDEO_PARAM_DIVXTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + QOMX_VIDEO_DIVXFORMATTYPE eFormat; + QOMX_VIDEO_DIVXPROFILETYPE eProfile; +} QOMX_VIDEO_PARAM_DIVXTYPE; + + + +/** + * VP Versions + */ +typedef enum QOMX_VIDEO_VPFORMATTYPE { + QOMX_VIDEO_VPFormatUnused = 0x01, /**< Format unused or unknown */ + QOMX_VIDEO_VPFormat6 = 0x02, /**< VP6 Video Format */ + QOMX_VIDEO_VPFormat7 = 0x04, /**< VP7 Video Format */ + QOMX_VIDEO_VPFormat8 = 0x08, /**< VP8 Video Format */ + QOMX_VIDEO_VPFormat9 = 0x10, /**< VP9 Video Format */ + QOMX_VIDEO_VPFormatKhronosExtensions = 0x6F000000, + QOMX_VIDEO_VPFormatVendorStartUnused = 0x7F000000, + QOMX_VIDEO_VPFormatMax = 0x7FFFFFFF +} QOMX_VIDEO_VPFORMATTYPE; + +/** + * VP profile types, each profile indicates support for various + * encoding tools. + */ +typedef enum QOMX_VIDEO_VPPROFILETYPE { + QOMX_VIDEO_VPProfileSimple = 0x01, /**< Simple Profile, applies to VP6 only */ + QOMX_VIDEO_VPProfileAdvanced = 0x02, /**< Advanced Profile, applies to VP6 only */ + QOMX_VIDEO_VPProfileVersion0 = 0x04, /**< Version 0, applies to VP7 and VP8 */ + QOMX_VIDEO_VPProfileVersion1 = 0x08, /**< Version 1, applies to VP7 and VP8 */ + QOMX_VIDEO_VPProfileVersion2 = 0x10, /**< Version 2, applies to VP8 only */ + QOMX_VIDEO_VPProfileVersion3 = 0x20, /**< Version 3, applies to VP8 only */ + QOMX_VIDEO_VPProfileKhronosExtensions = 0x6F000000, + QOMX_VIDEO_VPProfileVendorStartUnused = 0x7F000000, + QOMX_VIDEO_VPProfileMax = 0x7FFFFFFF +} QOMX_VIDEO_VPPROFILETYPE; + +/** + * VP Video Params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFormat : Format of VP stream / data + * eProfile : Profile or Version of VP stream / data + */ +typedef struct QOMX_VIDEO_PARAM_VPTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + QOMX_VIDEO_VPFORMATTYPE eFormat; + QOMX_VIDEO_VPPROFILETYPE eProfile; +} QOMX_VIDEO_PARAM_VPTYPE; + +/** + * Spark Versions + */ +typedef enum QOMX_VIDEO_SPARKFORMATTYPE { + QOMX_VIDEO_SparkFormatUnused = 0x01, /**< Format unused or unknown */ + QOMX_VIDEO_SparkFormat0 = 0x02, /**< Video Format Version 0 */ + QOMX_VIDEO_SparkFormat1 = 0x04, /**< Video Format Version 1 */ + QOMX_VIDEO_SparkFormatKhronosExtensions = 0x6F000000, + QOMX_VIDEO_SparkFormatVendorStartUnused = 0x7F000000, + QOMX_VIDEO_SparkFormatMax = 0x7FFFFFFF +} QOMX_VIDEO_SPARKFORMATTYPE; + +/** + * Spark Video Params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFormat : Version of Spark stream / data + */ +typedef struct QOMX_VIDEO_PARAM_SPARKTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + QOMX_VIDEO_SPARKFORMATTYPE eFormat; +} QOMX_VIDEO_PARAM_SPARKTYPE; + + +typedef struct QOMX_VIDEO_QUERY_DECODER_INSTANCES { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nNumOfInstances; +} QOMX_VIDEO_QUERY_DECODER_INSTANCES; + +typedef struct QOMX_ENABLETYPE { + OMX_BOOL bEnable; +} QOMX_ENABLETYPE; + +typedef enum QOMX_VIDEO_EVENTS { + OMX_EventIndexsettingChanged = OMX_EventVendorStartUnused +} QOMX_VIDEO_EVENTS; + +typedef enum QOMX_VIDEO_PICTURE_ORDER { + QOMX_VIDEO_DISPLAY_ORDER = 0x1, + QOMX_VIDEO_DECODE_ORDER = 0x2 +} QOMX_VIDEO_PICTURE_ORDER; + +typedef struct QOMX_VIDEO_DECODER_PICTURE_ORDER { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + QOMX_VIDEO_PICTURE_ORDER eOutputPictureOrder; +} QOMX_VIDEO_DECODER_PICTURE_ORDER; + +typedef struct QOMX_INDEXEXTRADATATYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnabled; + OMX_INDEXTYPE nIndex; +} QOMX_INDEXEXTRADATATYPE; + +typedef struct QOMX_INDEXTIMESTAMPREORDER { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnable; +} QOMX_INDEXTIMESTAMPREORDER; + +typedef struct QOMX_INDEXDOWNSCALAR { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnable; +} QOMX_INDEXDOWNSCALAR; + +typedef struct QOMX_VIDEO_CUSTOM_BUFFERSIZE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nBufferSize; +} QOMX_VIDEO_CUSTOM_BUFFERSIZE; + +#define OMX_QCOM_INDEX_PARAM_VIDEO_SYNCFRAMEDECODINGMODE "OMX.QCOM.index.param.video.SyncFrameDecodingMode" +#define OMX_QCOM_INDEX_PARAM_INDEXEXTRADATA "OMX.QCOM.index.param.IndexExtraData" +#define OMX_QCOM_INDEX_PARAM_VIDEO_SLICEDELIVERYMODE "OMX.QCOM.index.param.SliceDeliveryMode" +#define OMX_QCOM_INDEX_PARAM_VIDEO_FRAMEPACKING_EXTRADATA "OMX.QCOM.index.param.video.FramePackingExtradata" +#define OMX_QCOM_INDEX_PARAM_VIDEO_QP_EXTRADATA "OMX.QCOM.index.param.video.QPExtradata" +#define OMX_QCOM_INDEX_PARAM_VIDEO_INPUTBITSINFO_EXTRADATA "OMX.QCOM.index.param.video.InputBitsInfoExtradata" +#define OMX_QCOM_INDEX_PARAM_VIDEO_EXTNUSER_EXTRADATA "OMX.QCOM.index.param.video.ExtnUserExtraData" +#define OMX_QCOM_INDEX_CONFIG_VIDEO_FRAMEPACKING_INFO "OMX.QCOM.index.config.video.FramePackingInfo" +#define OMX_QCOM_INDEX_PARAM_VIDEO_MPEG2SEQDISP_EXTRADATA "OMX.QCOM.index.param.video.Mpeg2SeqDispExtraData" + +#define OMX_QCOM_INDEX_PARAM_VIDEO_HIERSTRUCTURE "OMX.QCOM.index.param.video.HierStructure" +#define OMX_QCOM_INDEX_PARAM_VIDEO_LTRCOUNT "OMX.QCOM.index.param.video.LTRCount" +#define OMX_QCOM_INDEX_PARAM_VIDEO_LTRPERIOD "OMX.QCOM.index.param.video.LTRPeriod" +#define OMX_QCOM_INDEX_CONFIG_VIDEO_LTRUSE "OMX.QCOM.index.config.video.LTRUse" +#define OMX_QCOM_INDEX_CONFIG_VIDEO_LTRMARK "OMX.QCOM.index.config.video.LTRMark" +#define OMX_QCOM_INDEX_CONFIG_VIDEO_HIER_P_LAYERS "OMX.QCOM.index.config.video.hierplayers" +#define OMX_QCOM_INDEX_CONFIG_RECTANGLE_TYPE "OMX.QCOM.index.config.video.rectangle" +#define OMX_QCOM_INDEX_PARAM_VIDEO_BASE_LAYER_ID "OMX.QCOM.index.param.video.baselayerid" +#define OMX_QCOM_INDEX_CONFIG_VIDEO_QP "OMX.QCOM.index.config.video.qp" +#define OMX_QCOM_INDEX_PARAM_VIDEO_SAR "OMX.QCOM.index.param.video.sar" +#define OMX_QTI_INDEX_PARAM_VIDEO_LOW_LATENCY "OMX.QTI.index.param.video.LowLatency" + +#define OMX_QCOM_INDEX_PARAM_VIDEO_PASSINPUTBUFFERFD "OMX.QCOM.index.param.video.PassInputBufferFd" +#define OMX_QTI_INDEX_PARAM_VIDEO_PREFER_ADAPTIVE_PLAYBACK "OMX.QTI.index.param.video.PreferAdaptivePlayback" +#define OMX_QTI_INDEX_CONFIG_VIDEO_SETTIMEDATA "OMX.QTI.index.config.video.settimedata" +#define OMX_QTI_INDEX_PARAM_VIDEO_FORCE_COMPRESSED_FOR_DPB "OMX.QTI.index.param.video.ForceCompressedForDPB" +#define OMX_QTI_INDEX_PARAM_VIDEO_ENABLE_ROIINFO "OMX.QTI.index.param.enableRoiInfo" +#define OMX_QTI_INDEX_CONFIG_VIDEO_ROIINFO "OMX.QTI.index.config.RoiInfo" + +typedef enum { + QOMX_VIDEO_FRAME_PACKING_CHECKERBOARD = 0, + QOMX_VIDEO_FRAME_PACKING_COLUMN_INTERLEAVE = 1, + QOMX_VIDEO_FRAME_PACKING_ROW_INTERLEAVE = 2, + QOMX_VIDEO_FRAME_PACKING_SIDE_BY_SIDE = 3, + QOMX_VIDEO_FRAME_PACKING_TOP_BOTTOM = 4, + QOMX_VIDEO_FRAME_PACKING_TEMPORAL = 5, +} QOMX_VIDEO_FRAME_PACKING_ARRANGEMENT; + +typedef enum { + QOMX_VIDEO_CONTENT_UNSPECIFIED = 0, + QOMX_VIDEO_CONTENT_LR_VIEW = 1, + QOMX_VIDEO_CONTENT_RL_VIEW = 2, +} QOMX_VIDEO_CONTENT_INTERPRETATION; + +/** + * Specifies the extended picture types. These values should be + * OR'd along with the types defined in OMX_VIDEO_PICTURETYPE to + * signal all pictures types which are allowed. + * + * ENUMS: + * H.264 Specific Picture Types: IDR + */ +typedef enum QOMX_VIDEO_PICTURETYPE { + QOMX_VIDEO_PictureTypeIDR = OMX_VIDEO_PictureTypeVendorStartUnused + 0x1000 +} QOMX_VIDEO_PICTURETYPE; + +#define OMX_QCOM_INDEX_CONFIG_ACTIVE_REGION_DETECTION "OMX.QCOM.index.config.activeregiondetection" +#define OMX_QCOM_INDEX_CONFIG_ACTIVE_REGION_DETECTION_STATUS "OMX.QCOM.index.config.activeregiondetectionstatus" +#define OMX_QCOM_INDEX_CONFIG_SCALING_MODE "OMX.QCOM.index.config.scalingmode" +#define OMX_QCOM_INDEX_CONFIG_NOISEREDUCTION "OMX.QCOM.index.config.noisereduction" +#define OMX_QCOM_INDEX_CONFIG_IMAGEENHANCEMENT "OMX.QCOM.index.config.imageenhancement" +#define OMX_QCOM_INDEX_PARAM_HELDBUFFERCOUNT "OMX.QCOM.index.param.HeldBufferCount" /**< reference: QOMX_HELDBUFFERCOUNTTYPE */ + + +typedef struct QOMX_RECTTYPE { + OMX_S32 nLeft; + OMX_S32 nTop; + OMX_U32 nWidth; + OMX_U32 nHeight; +} QOMX_RECTTYPE; + +typedef struct QOMX_ACTIVEREGIONDETECTIONTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnable; + QOMX_RECTTYPE sROI; + OMX_U32 nNumExclusionRegions; + QOMX_RECTTYPE sExclusionRegions[1]; +} QOMX_ACTIVEREGIONDETECTIONTYPE; + +typedef struct QOMX_ACTIVEREGIONDETECTION_STATUSTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bDetected; + QOMX_RECTTYPE sDetectedRegion; +} QOMX_ACTIVEREGIONDETECTION_STATUSTYPE; + +typedef enum QOMX_SCALE_MODETYPE { + QOMX_SCALE_MODE_Normal, + QOMX_SCALE_MODE_Anamorphic, + QOMX_SCALE_MODE_Max = 0x7FFFFFFF +} QOMX_SCALE_MODETYPE; + +typedef struct QOMX_SCALINGMODETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + QOMX_SCALE_MODETYPE eScaleMode; +} QOMX_SCALINGMODETYPE; + +typedef struct QOMX_NOISEREDUCTIONTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnable; + OMX_BOOL bAutoMode; + OMX_S32 nNoiseReduction; +} QOMX_NOISEREDUCTIONTYPE; + +typedef struct QOMX_IMAGEENHANCEMENTTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnable; + OMX_BOOL bAutoMode; + OMX_S32 nImageEnhancement; +} QOMX_IMAGEENHANCEMENTTYPE; + +/* + * these are part of OMX1.2 but JB MR2 branch doesn't have them defined + * OMX_IndexParamInterlaceFormat + * OMX_INTERLACEFORMATTYPE + */ +#ifndef OMX_IndexParamInterlaceFormat +#define OMX_IndexParamInterlaceFormat (0x7FF00000) +typedef struct OMX_INTERLACEFORMATTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nFormat; + OMX_TICKS nTimeStamp; +} OMX_INTERLACEFORMATTYPE; +#endif + +/** + * This structure is used to indicate the maximum number of buffers + * that a port will hold during data flow. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version info + * nPortIndex : Port that this structure applies to + * nHeldBufferCount : Read-only, maximum number of buffers that will be held + */ +typedef struct QOMX_HELDBUFFERCOUNTTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nHeldBufferCount; +} QOMX_HELDBUFFERCOUNTTYPE; + +typedef enum QOMX_VIDEO_HIERARCHICALCODINGTYPE { + QOMX_HIERARCHICALCODING_P = 0x01, + QOMX_HIERARCHICALCODING_B = 0x02, +} QOMX_VIDEO_HIERARCHICALCODINGTYPE; + +typedef struct QOMX_VIDEO_HIERARCHICALLAYERS { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nNumLayers; + QOMX_VIDEO_HIERARCHICALCODINGTYPE eHierarchicalCodingType; +} QOMX_VIDEO_HIERARCHICALLAYERS; + +typedef struct QOMX_VIDEO_H264ENTROPYCODINGTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_BOOL bCabac; + OMX_U32 nCabacInitIdc; +} QOMX_VIDEO_H264ENTROPYCODINGTYPE; + + +/* VIDEO POSTPROCESSING CTRLS AND ENUMS */ +#define QOMX_VPP_HQV_CUSTOMPAYLOAD_SZ 256 +#define VPP_HQV_CONTROL_GLOBAL_START (VPP_HQV_CONTROL_CUST + 1) + +typedef enum QOMX_VPP_HQV_MODE { + VPP_HQV_MODE_OFF, + VPP_HQV_MODE_AUTO, + VPP_HQV_MODE_MANUAL, + VPP_HQV_MODE_MAX +} QOMX_VPP_HQV_MODE; + +typedef enum QOMX_VPP_HQVCONTROLTYPE { + VPP_HQV_CONTROL_CADE = 0x1, + VPP_HQV_CONTROL_CNR = 0x04, + VPP_HQV_CONTROL_AIE = 0x05, + VPP_HQV_CONTROL_FRC = 0x06, + VPP_HQV_CONTROL_CUST = 0x07, + VPP_HQV_CONTROL_GLOBAL_DEMO = VPP_HQV_CONTROL_GLOBAL_START, + VPP_HQV_CONTROL_MAX, +} QOMX_VPP_HQVCONTROLTYPE; + +typedef enum QOMX_VPP_HQV_HUE_MODE { + VPP_HQV_HUE_MODE_OFF, + VPP_HQV_HUE_MODE_ON, + VPP_HQV_HUE_MODE_MAX, +} QOMX_VPP_HQV_HUE_MODE; + +typedef enum QOMX_VPP_HQV_FRC_MODE { + VPP_HQV_FRC_MODE_OFF, + VPP_HQV_FRC_MODE_LOW, + VPP_HQV_FRC_MODE_MED, + VPP_HQV_FRC_MODE_HIGH, + VPP_HQV_FRC_MODE_MAX, +} QOMX_VPP_HQV_FRC_MODE; + + +typedef struct QOMX_VPP_HQVCTRL_CADE { + QOMX_VPP_HQV_MODE mode; + OMX_U32 level; + OMX_S32 contrast; + OMX_S32 saturation; +} QOMX_VPP_HQVCTRL_CADE; + +typedef struct QOMX_VPP_HQVCTRL_CNR { + QOMX_VPP_HQV_MODE mode; + OMX_U32 level; +} QOMX_VPP_HQVCTRL_CNR; + +typedef struct QOMX_VPP_HQVCTRL_AIE { + QOMX_VPP_HQV_MODE mode; + QOMX_VPP_HQV_HUE_MODE hue_mode; + OMX_U32 cade_level; + OMX_U32 ltm_level; +} QOMX_VPP_HQVCTRL_AIE; + +typedef struct QOMX_VPP_HQVCTRL_CUSTOM { + OMX_U32 id; + OMX_U32 len; + OMX_U8 data[QOMX_VPP_HQV_CUSTOMPAYLOAD_SZ]; +} QOMX_VPP_HQVCTRL_CUSTOM; + +typedef struct QOMX_VPP_HQVCTRL_GLOBAL_DEMO { + OMX_U32 process_percent; +} QOMX_VPP_HQVCTRL_GLOBAL_DEMO; + +typedef struct QOMX_VPP_HQVCTRL_FRC { + QOMX_VPP_HQV_FRC_MODE mode; +} QOMX_VPP_HQVCTRL_FRC; + +typedef struct QOMX_VPP_HQVCONTROL { + QOMX_VPP_HQV_MODE mode; + QOMX_VPP_HQVCONTROLTYPE ctrl_type; + union { + QOMX_VPP_HQVCTRL_CADE cade; + QOMX_VPP_HQVCTRL_CNR cnr; + QOMX_VPP_HQVCTRL_AIE aie; + QOMX_VPP_HQVCTRL_CUSTOM custom; + QOMX_VPP_HQVCTRL_GLOBAL_DEMO global_demo; + QOMX_VPP_HQVCTRL_FRC frc; + }; +} QOMX_VPP_HQVCONTROL; + +/* STRUCTURE TO TURN VPP ON */ +typedef struct QOMX_VPP_ENABLE { + OMX_BOOL enable_vpp; +} QOMX_VPP_ENABLE; + +typedef enum OMX_QOMX_VIDEO_MBISTATISTICSTYPE { + QOMX_MBI_STATISTICS_MODE_DEFAULT = 0, + QOMX_MBI_STATISTICS_MODE_1 = 0x01, + QOMX_MBI_STATISTICS_MODE_2 = 0x02, +} OMX_QOMX_VIDEO_MBISTATISTICSTYPE; + +typedef struct OMX_QOMX_VIDEO_MBI_STATISTICS { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_QOMX_VIDEO_MBISTATISTICSTYPE eMBIStatisticsType; +} OMX_QOMX_VIDEO_MBI_STATISTICS; + +typedef struct QOMX_VIDEO_BATCHSIZETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nBatchSize; +} QOMX_VIDEO_BATCHSIZETYPE; + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* __OMX_QCOM_EXTENSIONS_H__ */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Skype_VideoExtensions.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Skype_VideoExtensions.h new file mode 100644 index 000000000..5cc832930 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Skype_VideoExtensions.h @@ -0,0 +1,155 @@ +/*@@@+++@@@@****************************************************************** + + Microsoft Skype Engineering + Copyright (C) 2014 Microsoft Corporation. + +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. + +*@@@---@@@@******************************************************************/ + + +#ifndef __OMX_SKYPE_VIDEOEXTENSIONS_H__ +#define __OMX_SKYPE_VIDEOEXTENSIONS_H__ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#pragma pack(push, 1) + + +typedef enum OMX_SKYPE_VIDEO_SliceControlMode +{ + OMX_SKYPE_VIDEO_SliceControlModeNone = 0, + OMX_SKYPE_VIDEO_SliceControlModeMB = 1, + OMX_SKYPE_VIDEO_SliceControlModeByte = 2, + OMX_SKYPE_VIDEO_SliceControlModMBRow = 3, +} OMX_SKYPE_VIDEO_SliceControlMode; + + +typedef enum OMX_SKYPE_VIDEO_HierarType +{ + OMX_SKYPE_VIDEO_HierarType_P = 0x01, + OMX_SKYPE_VIDEO_HierarType_B = 0x02, +} OMX_SKYPE_VIDEO_HIERAR_HierarType; + +typedef enum OMX_VIDEO_EXTENSION_AVCPROFILETYPE +{ + OMX_VIDEO_EXT_AVCProfileConstrainedBaseline = 0x01, + OMX_VIDEO_EXT_AVCProfileConstrainedHigh = 0x02, +} OMX_VIDEO_EXTENSION_AVCPROFILETYPE; + +typedef struct OMX_SKYPE_VIDEO_ENCODERPARAMS { + OMX_BOOL bLowLatency; + OMX_BOOL bUseExtendedProfile; + OMX_BOOL bSequenceHeaderWithIDR; + OMX_VIDEO_EXTENSION_AVCPROFILETYPE eProfile; + OMX_U32 nLTRFrames; + OMX_SKYPE_VIDEO_HierarType eHierarType; + OMX_U32 nMaxTemporalLayerCount; + OMX_SKYPE_VIDEO_SliceControlMode eSliceControlMode; + OMX_U32 nSarIndex; + OMX_U32 nSarWidth; + OMX_U32 nSarHeight; +} OMX_SKYPE_VIDEO_ENCODERPARAMS; + +typedef struct OMX_SKYPE_VIDEO_PARAM_ENCODERSETTING { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_SKYPE_VIDEO_ENCODERPARAMS stEncParam; +} OMX_SKYPE_VIDEO_PARAM_ENCODESETTING; + +typedef struct OMX_SKYPE_VIDEO_ENCODERCAP { + OMX_BOOL bLowLatency; + OMX_U32 nMaxFrameWidth; + OMX_U32 nMaxFrameHeight; + OMX_U32 nMaxInstances; + OMX_U32 nMaxTemporaLayerCount; + OMX_U32 nMaxRefFrames; + OMX_U32 nMaxLTRFrames; + OMX_VIDEO_AVCLEVELTYPE nMaxLevel; + OMX_U32 nSliceControlModesBM; + OMX_U32 nMaxMacroblockProcessingRate; + OMX_U32 xMinScaleFactor; +} OMX_SKYPE_VIDEO_ENCODERCAP; + +typedef struct OMX_SKYPE_VIDEO_PARAM_ENCODERCAP { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_SKYPE_VIDEO_ENCODERCAP stEncCap; +} OMX_SKYPE_VIDEO_PARAM_ENCODERCAP; + +typedef struct OMX_SKYPE_VIDEO_DECODERCAP { + OMX_BOOL bLowLatency; + OMX_U32 nMaxFrameWidth; + OMX_U32 nMaxFrameHeight; + OMX_U32 nMaxInstances; + OMX_VIDEO_AVCLEVELTYPE nMaxLevel; + OMX_U32 nMaxMacroblockProcessingRate; +} OMX_SKYPE_VIDEO_DECODERCAP; + +typedef struct OMX_SKYPE_VIDEO_PARAM_DECODERCAP { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_SKYPE_VIDEO_DECODERCAP stDecoderCap; +} OMX_SKYPE_VIDEO_PARAM_DECODERCAP; + +typedef struct OMX_SKYPE_VIDEO_CONFIG_QP { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nQP; +} OMX_SKYPE_VIDEO_CONFIG_QP; + +typedef struct OMX_SKYPE_VIDEO_CONFIG_BASELAYERPID{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nPID; +} OMX_SKYPE_VIDEO_CONFIG_BASELAYERPID; + +typedef struct OMX_SKYPE_VIDEO_PARAM_DRIVERVER { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U64 nDriverVersion; +} OMX_SKYPE_VIDEO_PARAM_DRIVERVER; + +typedef enum OMX_SKYPE_VIDEO_DownScaleFactor +{ + OMX_SKYPE_VIDEO_DownScaleFactor_1_1 = 0, + OMX_SKYPE_VIDEO_DownScaleFactor_Equal_AR = 1, + OMX_SKYPE_VIDEO_DownScaleFactor_Any = 2, +} OMX_SKYPE_VIDEO_DownScaleFactor; + +#pragma pack(pop) + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Types.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Types.h new file mode 100644 index 000000000..3b9fab4fc --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Types.h @@ -0,0 +1,359 @@ +/* + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** OMX_Types.h - OpenMax IL version 1.1.2 + * The OMX_Types header file contains the primitive type definitions used by + * the core, the application and the component. This file may need to be + * modified to be used on systems that do not have "char" set to 8 bits, + * "short" set to 16 bits and "long" set to 32 bits. + */ + +#ifndef OMX_Types_h +#define OMX_Types_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/** The OMX_API and OMX_APIENTRY are platform specific definitions used + * to declare OMX function prototypes. They are modified to meet the + * requirements for a particular platform */ +#ifdef __SYMBIAN32__ +# ifdef __OMX_EXPORTS +# define OMX_API __declspec(dllexport) +# else +# ifdef _WIN32 +# define OMX_API __declspec(dllexport) +# else +# define OMX_API __declspec(dllimport) +# endif +# endif +#else +# ifdef _WIN32 +# ifdef __OMX_EXPORTS +# define OMX_API __declspec(dllexport) +# else +# define OMX_API __declspec(dllimport) +# endif +# else +# ifdef __OMX_EXPORTS +# define OMX_API +# else +# define OMX_API extern +# endif +# endif +#endif + +#ifndef OMX_APIENTRY +#define OMX_APIENTRY +#endif + +/** OMX_IN is used to identify inputs to an OMX function. This designation + will also be used in the case of a pointer that points to a parameter + that is used as an output. */ +#ifndef OMX_IN +#define OMX_IN +#endif + +/** OMX_OUT is used to identify outputs from an OMX function. This + designation will also be used in the case of a pointer that points + to a parameter that is used as an input. */ +#ifndef OMX_OUT +#define OMX_OUT +#endif + + +/** OMX_INOUT is used to identify parameters that may be either inputs or + outputs from an OMX function at the same time. This designation will + also be used in the case of a pointer that points to a parameter that + is used both as an input and an output. */ +#ifndef OMX_INOUT +#define OMX_INOUT +#endif + +/** OMX_ALL is used to as a wildcard to select all entities of the same type + * when specifying the index, or referring to a object by an index. (i.e. + * use OMX_ALL to indicate all N channels). When used as a port index + * for a config or parameter this OMX_ALL denotes that the config or + * parameter applies to the entire component not just one port. */ +#define OMX_ALL 0xFFFFFFFF + +/** In the following we define groups that help building doxygen documentation */ + +/** @defgroup core OpenMAX IL core + * Functions and structure related to the OMX IL core + */ + + /** @defgroup comp OpenMAX IL component + * Functions and structure related to the OMX IL component + */ + +/** @defgroup rpm Resource and Policy Management + * Structures for resource and policy management of components + */ + +/** @defgroup buf Buffer Management + * Buffer handling functions and structures + */ + +/** @defgroup tun Tunneling + * @ingroup core comp + * Structures and functions to manage tunnels among component ports + */ + +/** @defgroup cp Content Pipes + * @ingroup core + */ + + /** @defgroup metadata Metadata handling + * + */ + +/** OMX_U8 is an 8 bit unsigned quantity that is byte aligned */ +typedef unsigned char OMX_U8; + +/** OMX_S8 is an 8 bit signed quantity that is byte aligned */ +typedef signed char OMX_S8; + +/** OMX_U16 is a 16 bit unsigned quantity that is 16 bit word aligned */ +typedef unsigned short OMX_U16; + +/** OMX_S16 is a 16 bit signed quantity that is 16 bit word aligned */ +typedef signed short OMX_S16; + +/** OMX_U32 is a 32 bit unsigned quantity that is 32 bit word aligned */ +typedef unsigned int OMX_U32; + +/** OMX_S32 is a 32 bit signed quantity that is 32 bit word aligned */ +typedef signed int OMX_S32; + + +/* Users with compilers that cannot accept the "long long" designation should + define the OMX_SKIP64BIT macro. It should be noted that this may cause + some components to fail to compile if the component was written to require + 64 bit integral types. However, these components would NOT compile anyway + since the compiler does not support the way the component was written. +*/ +#ifndef OMX_SKIP64BIT +#ifdef __SYMBIAN32__ +/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */ +typedef unsigned long long OMX_U64; + +/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */ +typedef signed long long OMX_S64; + +#elif defined(WIN32) + +/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */ +typedef unsigned __int64 OMX_U64; + +/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */ +typedef signed __int64 OMX_S64; + +#else /* WIN32 */ + +/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */ +typedef unsigned long long OMX_U64; + +/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */ +typedef signed long long OMX_S64; + +#endif /* WIN32 */ +#endif + + +/** The OMX_BOOL type is intended to be used to represent a true or a false + value when passing parameters to and from the OMX core and components. The + OMX_BOOL is a 32 bit quantity and is aligned on a 32 bit word boundary. + */ +typedef enum OMX_BOOL { + OMX_FALSE = 0, + OMX_TRUE = !OMX_FALSE, + OMX_BOOL_MAX = 0x7FFFFFFF +} OMX_BOOL; + +#ifdef OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS + +typedef OMX_U32 OMX_PTR; +typedef OMX_PTR OMX_STRING; +typedef OMX_PTR OMX_BYTE; + +#else + +/** The OMX_PTR type is intended to be used to pass pointers between the OMX + applications and the OMX Core and components. This is a 32 bit pointer and + is aligned on a 32 bit boundary. + */ +typedef void* OMX_PTR; + +/** The OMX_STRING type is intended to be used to pass "C" type strings between + the application and the core and component. The OMX_STRING type is a 32 + bit pointer to a zero terminated string. The pointer is word aligned and + the string is byte aligned. + */ +typedef char* OMX_STRING; + +/** The OMX_BYTE type is intended to be used to pass arrays of bytes such as + buffers between the application and the component and core. The OMX_BYTE + type is a 32 bit pointer to a zero terminated string. The pointer is word + aligned and the string is byte aligned. + */ +typedef unsigned char* OMX_BYTE; + +/** OMX_UUIDTYPE is a very long unique identifier to uniquely identify + at runtime. This identifier should be generated by a component in a way + that guarantees that every instance of the identifier running on the system + is unique. */ + + +#endif + +typedef unsigned char OMX_UUIDTYPE[128]; + +/** The OMX_DIRTYPE enumeration is used to indicate if a port is an input or + an output port. This enumeration is common across all component types. + */ +typedef enum OMX_DIRTYPE +{ + OMX_DirInput, /**< Port is an input port */ + OMX_DirOutput, /**< Port is an output port */ + OMX_DirMax = 0x7FFFFFFF +} OMX_DIRTYPE; + +/** The OMX_ENDIANTYPE enumeration is used to indicate the bit ordering + for numerical data (i.e. big endian, or little endian). + */ +typedef enum OMX_ENDIANTYPE +{ + OMX_EndianBig, /**< big endian */ + OMX_EndianLittle, /**< little endian */ + OMX_EndianMax = 0x7FFFFFFF +} OMX_ENDIANTYPE; + + +/** The OMX_NUMERICALDATATYPE enumeration is used to indicate if data + is signed or unsigned + */ +typedef enum OMX_NUMERICALDATATYPE +{ + OMX_NumericalDataSigned, /**< signed data */ + OMX_NumericalDataUnsigned, /**< unsigned data */ + OMX_NumercialDataMax = 0x7FFFFFFF +} OMX_NUMERICALDATATYPE; + + +/** Unsigned bounded value type */ +typedef struct OMX_BU32 { + OMX_U32 nValue; /**< actual value */ + OMX_U32 nMin; /**< minimum for value (i.e. nValue >= nMin) */ + OMX_U32 nMax; /**< maximum for value (i.e. nValue <= nMax) */ +} OMX_BU32; + + +/** Signed bounded value type */ +typedef struct OMX_BS32 { + OMX_S32 nValue; /**< actual value */ + OMX_S32 nMin; /**< minimum for value (i.e. nValue >= nMin) */ + OMX_S32 nMax; /**< maximum for value (i.e. nValue <= nMax) */ +} OMX_BS32; + + +/** Structure representing some time or duration in microseconds. This structure + * must be interpreted as a signed 64 bit value. The quantity is signed to accommodate + * negative deltas and preroll scenarios. The quantity is represented in microseconds + * to accomodate high resolution timestamps (e.g. DVD presentation timestamps based + * on a 90kHz clock) and to allow more accurate and synchronized delivery (e.g. + * individual audio samples delivered at 192 kHz). The quantity is 64 bit to + * accommodate a large dynamic range (signed 32 bit values would allow only for plus + * or minus 35 minutes). + * + * Implementations with limited precision may convert the signed 64 bit value to + * a signed 32 bit value internally but risk loss of precision. + */ +#ifndef OMX_SKIP64BIT +typedef OMX_S64 OMX_TICKS; +#else +typedef struct OMX_TICKS +{ + OMX_U32 nLowPart; /** low bits of the signed 64 bit tick value */ + OMX_U32 nHighPart; /** high bits of the signed 64 bit tick value */ +} OMX_TICKS; +#endif +#define OMX_TICKS_PER_SECOND 1000000 + +/** Define the public interface for the OMX Handle. The core will not use + this value internally, but the application should only use this value. + */ +typedef void* OMX_HANDLETYPE; + +typedef struct OMX_MARKTYPE +{ + OMX_HANDLETYPE hMarkTargetComponent; /**< The component that will + generate a mark event upon + processing the mark. */ + OMX_PTR pMarkData; /**< Application specific data associated with + the mark sent on a mark event to disambiguate + this mark from others. */ +} OMX_MARKTYPE; + + +/** OMX_NATIVE_DEVICETYPE is used to map a OMX video port to the + * platform & operating specific object used to reference the display + * or can be used by a audio port for native audio rendering */ +typedef void* OMX_NATIVE_DEVICETYPE; + +/** OMX_NATIVE_WINDOWTYPE is used to map a OMX video port to the + * platform & operating specific object used to reference the window */ +typedef void* OMX_NATIVE_WINDOWTYPE; + +/** The OMX_VERSIONTYPE union is used to specify the version for + a structure or component. For a component, the version is entirely + specified by the component vendor. Components doing the same function + from different vendors may or may not have the same version. For + structures, the version shall be set by the entity that allocates the + structure. For structures specified in the OMX 1.1 specification, the + value of the version shall be set to 1.1.0.0 in all cases. Access to the + OMX_VERSIONTYPE can be by a single 32 bit access (e.g. by nVersion) or + by accessing one of the structure elements to, for example, check only + the Major revision. + */ +typedef union OMX_VERSIONTYPE +{ + struct + { + OMX_U8 nVersionMajor; /**< Major version accessor element */ + OMX_U8 nVersionMinor; /**< Minor version accessor element */ + OMX_U8 nRevision; /**< Revision version accessor element */ + OMX_U8 nStep; /**< Step version accessor element */ + } s; + OMX_U32 nVersion; /**< 32 bit value to make accessing the + version easily done in a single word + size copy/compare operation */ +} OMX_VERSIONTYPE; + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Video.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Video.h new file mode 100644 index 000000000..64dbe87b4 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Video.h @@ -0,0 +1,1082 @@ +/** + * Copyright (c) 2008 The Khronos Group 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. + * + */ + +/** + * @file OMX_Video.h - OpenMax IL version 1.1.2 + * The structures is needed by Video components to exchange parameters + * and configuration data with OMX components. + */ +#ifndef OMX_Video_h +#define OMX_Video_h + +/** @defgroup video OpenMAX IL Video Domain + * @ingroup iv + * Structures for OpenMAX IL Video domain + * @{ + */ + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + + +/** + * Each OMX header must include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ + +#include + + +/** + * Enumeration used to define the possible video compression codings. + * NOTE: This essentially refers to file extensions. If the coding is + * being used to specify the ENCODE type, then additional work + * must be done to configure the exact flavor of the compression + * to be used. For decode cases where the user application can + * not differentiate between MPEG-4 and H.264 bit streams, it is + * up to the codec to handle this. + */ +typedef enum OMX_VIDEO_CODINGTYPE { + OMX_VIDEO_CodingUnused, /**< Value when coding is N/A */ + OMX_VIDEO_CodingAutoDetect, /**< Autodetection of coding type */ + OMX_VIDEO_CodingMPEG2, /**< AKA: H.262 */ + OMX_VIDEO_CodingH263, /**< H.263 */ + OMX_VIDEO_CodingMPEG4, /**< MPEG-4 */ + OMX_VIDEO_CodingWMV, /**< all versions of Windows Media Video */ + OMX_VIDEO_CodingRV, /**< all versions of Real Video */ + OMX_VIDEO_CodingAVC, /**< H.264/AVC */ + OMX_VIDEO_CodingMJPEG, /**< Motion JPEG */ + OMX_VIDEO_CodingVP8, /**< Google VP8, formerly known as On2 VP8 */ + OMX_VIDEO_CodingVP9, /**< Google VP9 */ + OMX_VIDEO_CodingHEVC, /**< HEVC */ + OMX_VIDEO_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_CodingMax = 0x7FFFFFFF +} OMX_VIDEO_CODINGTYPE; + + +/** + * Data structure used to define a video path. The number of Video paths for + * input and output will vary by type of the Video component. + * + * Input (aka Source) : zero Inputs, one Output, + * Splitter : one Input, 2 or more Outputs, + * Processing Element : one Input, one output, + * Mixer : 2 or more inputs, one output, + * Output (aka Sink) : one Input, zero outputs. + * + * The PortDefinition structure is used to define all of the parameters + * necessary for the compliant component to setup an input or an output video + * path. If additional vendor specific data is required, it should be + * transmitted to the component using the CustomCommand function. Compliant + * components will prepopulate this structure with optimal values during the + * GetDefaultInitParams command. + * + * STRUCT MEMBERS: + * cMIMEType : MIME type of data for the port + * pNativeRender : Platform specific reference for a display if a + * sync, otherwise this field is 0 + * nFrameWidth : Width of frame to be used on channel if + * uncompressed format is used. Use 0 for unknown, + * don't care or variable + * nFrameHeight : Height of frame to be used on channel if + * uncompressed format is used. Use 0 for unknown, + * don't care or variable + * nStride : Number of bytes per span of an image + * (i.e. indicates the number of bytes to get + * from span N to span N+1, where negative stride + * indicates the image is bottom up + * nSliceHeight : Height used when encoding in slices + * nBitrate : Bit rate of frame to be used on channel if + * compressed format is used. Use 0 for unknown, + * don't care or variable + * xFramerate : Frame rate to be used on channel if uncompressed + * format is used. Use 0 for unknown, don't care or + * variable. Units are Q16 frames per second. + * bFlagErrorConcealment : Turns on error concealment if it is supported by + * the OMX component + * eCompressionFormat : Compression format used in this instance of the + * component. When OMX_VIDEO_CodingUnused is + * specified, eColorFormat is used + * eColorFormat : Decompressed format used by this component + * pNativeWindow : Platform specific reference for a window object if a + * display sink , otherwise this field is 0x0. + */ +typedef struct OMX_VIDEO_PORTDEFINITIONTYPE { + OMX_STRING cMIMEType; + OMX_NATIVE_DEVICETYPE pNativeRender; + OMX_U32 nFrameWidth; + OMX_U32 nFrameHeight; + OMX_S32 nStride; + OMX_U32 nSliceHeight; + OMX_U32 nBitrate; + OMX_U32 xFramerate; + OMX_BOOL bFlagErrorConcealment; + OMX_VIDEO_CODINGTYPE eCompressionFormat; + OMX_COLOR_FORMATTYPE eColorFormat; + OMX_NATIVE_WINDOWTYPE pNativeWindow; +} OMX_VIDEO_PORTDEFINITIONTYPE; + +/** + * Port format parameter. This structure is used to enumerate the various + * data input/output format supported by the port. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Indicates which port to set + * nIndex : Indicates the enumeration index for the format from + * 0x0 to N-1 + * eCompressionFormat : Compression format used in this instance of the + * component. When OMX_VIDEO_CodingUnused is specified, + * eColorFormat is used + * eColorFormat : Decompressed format used by this component + * xFrameRate : Indicates the video frame rate in Q16 format + */ +typedef struct OMX_VIDEO_PARAM_PORTFORMATTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nIndex; + OMX_VIDEO_CODINGTYPE eCompressionFormat; + OMX_COLOR_FORMATTYPE eColorFormat; + OMX_U32 xFramerate; +} OMX_VIDEO_PARAM_PORTFORMATTYPE; + + +/** + * This is a structure for configuring video compression quantization + * parameter values. Codecs may support different QP values for different + * frame types. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version info + * nPortIndex : Port that this structure applies to + * nQpI : QP value to use for index frames + * nQpP : QP value to use for P frames + * nQpB : QP values to use for bidirectional frames + */ +typedef struct OMX_VIDEO_PARAM_QUANTIZATIONTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nQpI; + OMX_U32 nQpP; + OMX_U32 nQpB; +} OMX_VIDEO_PARAM_QUANTIZATIONTYPE; + + +/** + * Structure for configuration of video fast update parameters. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version info + * nPortIndex : Port that this structure applies to + * bEnableVFU : Enable/Disable video fast update + * nFirstGOB : Specifies the number of the first macroblock row + * nFirstMB : specifies the first MB relative to the specified first GOB + * nNumMBs : Specifies the number of MBs to be refreshed from nFirstGOB + * and nFirstMB + */ +typedef struct OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnableVFU; + OMX_U32 nFirstGOB; + OMX_U32 nFirstMB; + OMX_U32 nNumMBs; +} OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE; + + +/** + * Enumeration of possible bitrate control types + */ +typedef enum OMX_VIDEO_CONTROLRATETYPE { + OMX_Video_ControlRateDisable, + OMX_Video_ControlRateVariable, + OMX_Video_ControlRateConstant, + OMX_Video_ControlRateVariableSkipFrames, + OMX_Video_ControlRateConstantSkipFrames, + OMX_Video_ControlRateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_Video_ControlRateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_Video_ControlRateMax = 0x7FFFFFFF +} OMX_VIDEO_CONTROLRATETYPE; + + +/** + * Structure for configuring bitrate mode of a codec. + * + * STRUCT MEMBERS: + * nSize : Size of the struct in bytes + * nVersion : OMX spec version info + * nPortIndex : Port that this struct applies to + * eControlRate : Control rate type enum + * nTargetBitrate : Target bitrate to encode with + */ +typedef struct OMX_VIDEO_PARAM_BITRATETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_CONTROLRATETYPE eControlRate; + OMX_U32 nTargetBitrate; +} OMX_VIDEO_PARAM_BITRATETYPE; + + +/** + * Enumeration of possible motion vector (MV) types + */ +typedef enum OMX_VIDEO_MOTIONVECTORTYPE { + OMX_Video_MotionVectorPixel, + OMX_Video_MotionVectorHalfPel, + OMX_Video_MotionVectorQuarterPel, + OMX_Video_MotionVectorEighthPel, + OMX_Video_MotionVectorKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_Video_MotionVectorVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_Video_MotionVectorMax = 0x7FFFFFFF +} OMX_VIDEO_MOTIONVECTORTYPE; + + +/** + * Structure for configuring the number of motion vectors used as well + * as their accuracy. + * + * STRUCT MEMBERS: + * nSize : Size of the struct in bytes + * nVersion : OMX spec version info + * nPortIndex : port that this structure applies to + * eAccuracy : Enumerated MV accuracy + * bUnrestrictedMVs : Allow unrestricted MVs + * bFourMV : Allow use of 4 MVs + * sXSearchRange : Search range in horizontal direction for MVs + * sYSearchRange : Search range in vertical direction for MVs + */ +typedef struct OMX_VIDEO_PARAM_MOTIONVECTORTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_MOTIONVECTORTYPE eAccuracy; + OMX_BOOL bUnrestrictedMVs; + OMX_BOOL bFourMV; + OMX_S32 sXSearchRange; + OMX_S32 sYSearchRange; +} OMX_VIDEO_PARAM_MOTIONVECTORTYPE; + + +/** + * Enumeration of possible methods to use for Intra Refresh + */ +typedef enum OMX_VIDEO_INTRAREFRESHTYPE { + OMX_VIDEO_IntraRefreshCyclic, + OMX_VIDEO_IntraRefreshAdaptive, + OMX_VIDEO_IntraRefreshBoth, + OMX_VIDEO_IntraRefreshKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_IntraRefreshVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_IntraRefreshRandom, + OMX_VIDEO_IntraRefreshMax = 0x7FFFFFFF +} OMX_VIDEO_INTRAREFRESHTYPE; + + +/** + * Structure for configuring intra refresh mode + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eRefreshMode : Cyclic, Adaptive, or Both + * nAirMBs : Number of intra macroblocks to refresh in a frame when + * AIR is enabled + * nAirRef : Number of times a motion marked macroblock has to be + * intra coded + * nCirMBs : Number of consecutive macroblocks to be coded as "intra" + * when CIR is enabled + */ +typedef struct OMX_VIDEO_PARAM_INTRAREFRESHTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_INTRAREFRESHTYPE eRefreshMode; + OMX_U32 nAirMBs; + OMX_U32 nAirRef; + OMX_U32 nCirMBs; +} OMX_VIDEO_PARAM_INTRAREFRESHTYPE; + + +/** + * Structure for enabling various error correction methods for video + * compression. + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * bEnableHEC : Enable/disable header extension codes (HEC) + * bEnableResync : Enable/disable resynchronization markers + * nResynchMarkerSpacing : Resynch markers interval (in bits) to be + * applied in the stream + * bEnableDataPartitioning : Enable/disable data partitioning + * bEnableRVLC : Enable/disable reversible variable length + * coding + */ +typedef struct OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnableHEC; + OMX_BOOL bEnableResync; + OMX_U32 nResynchMarkerSpacing; + OMX_BOOL bEnableDataPartitioning; + OMX_BOOL bEnableRVLC; +} OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE; + + +/** + * Configuration of variable block-size motion compensation (VBSMC) + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * b16x16 : Enable inter block search 16x16 + * b16x8 : Enable inter block search 16x8 + * b8x16 : Enable inter block search 8x16 + * b8x8 : Enable inter block search 8x8 + * b8x4 : Enable inter block search 8x4 + * b4x8 : Enable inter block search 4x8 + * b4x4 : Enable inter block search 4x4 + */ +typedef struct OMX_VIDEO_PARAM_VBSMCTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL b16x16; + OMX_BOOL b16x8; + OMX_BOOL b8x16; + OMX_BOOL b8x8; + OMX_BOOL b8x4; + OMX_BOOL b4x8; + OMX_BOOL b4x4; +} OMX_VIDEO_PARAM_VBSMCTYPE; + + +/** + * H.263 profile types, each profile indicates support for various + * performance bounds and different annexes. + * + * ENUMS: + * Baseline : Baseline Profile: H.263 (V1), no optional modes + * H320 Coding : H.320 Coding Efficiency Backward Compatibility + * Profile: H.263+ (V2), includes annexes I, J, L.4 + * and T + * BackwardCompatible : Backward Compatibility Profile: H.263 (V1), + * includes annex F + * ISWV2 : Interactive Streaming Wireless Profile: H.263+ + * (V2), includes annexes I, J, K and T + * ISWV3 : Interactive Streaming Wireless Profile: H.263++ + * (V3), includes profile 3 and annexes V and W.6.3.8 + * HighCompression : Conversational High Compression Profile: H.263++ + * (V3), includes profiles 1 & 2 and annexes D and U + * Internet : Conversational Internet Profile: H.263++ (V3), + * includes profile 5 and annex K + * Interlace : Conversational Interlace Profile: H.263++ (V3), + * includes profile 5 and annex W.6.3.11 + * HighLatency : High Latency Profile: H.263++ (V3), includes + * profile 6 and annexes O.1 and P.5 + */ +typedef enum OMX_VIDEO_H263PROFILETYPE { + OMX_VIDEO_H263ProfileBaseline = 0x01, + OMX_VIDEO_H263ProfileH320Coding = 0x02, + OMX_VIDEO_H263ProfileBackwardCompatible = 0x04, + OMX_VIDEO_H263ProfileISWV2 = 0x08, + OMX_VIDEO_H263ProfileISWV3 = 0x10, + OMX_VIDEO_H263ProfileHighCompression = 0x20, + OMX_VIDEO_H263ProfileInternet = 0x40, + OMX_VIDEO_H263ProfileInterlace = 0x80, + OMX_VIDEO_H263ProfileHighLatency = 0x100, + OMX_VIDEO_H263ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_H263ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_H263ProfileMax = 0x7FFFFFFF +} OMX_VIDEO_H263PROFILETYPE; + + +/** + * H.263 level types, each level indicates support for various frame sizes, + * bit rates, decoder frame rates. + */ +typedef enum OMX_VIDEO_H263LEVELTYPE { + OMX_VIDEO_H263Level10 = 0x01, + OMX_VIDEO_H263Level20 = 0x02, + OMX_VIDEO_H263Level30 = 0x04, + OMX_VIDEO_H263Level40 = 0x08, + OMX_VIDEO_H263Level45 = 0x10, + OMX_VIDEO_H263Level50 = 0x20, + OMX_VIDEO_H263Level60 = 0x40, + OMX_VIDEO_H263Level70 = 0x80, + OMX_VIDEO_H263LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_H263LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_H263LevelMax = 0x7FFFFFFF +} OMX_VIDEO_H263LEVELTYPE; + + +/** + * Specifies the picture type. These values should be OR'd to signal all + * pictures types which are allowed. + * + * ENUMS: + * Generic Picture Types: I, P and B + * H.263 Specific Picture Types: SI and SP + * H.264 Specific Picture Types: EI and EP + * MPEG-4 Specific Picture Types: S + */ +typedef enum OMX_VIDEO_PICTURETYPE { + OMX_VIDEO_PictureTypeI = 0x01, + OMX_VIDEO_PictureTypeP = 0x02, + OMX_VIDEO_PictureTypeB = 0x04, + OMX_VIDEO_PictureTypeSI = 0x08, + OMX_VIDEO_PictureTypeSP = 0x10, + OMX_VIDEO_PictureTypeEI = 0x11, + OMX_VIDEO_PictureTypeEP = 0x12, + OMX_VIDEO_PictureTypeS = 0x14, + OMX_VIDEO_PictureTypeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_PictureTypeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_PictureTypeMax = 0x7FFFFFFF +} OMX_VIDEO_PICTURETYPE; + + +/** + * H.263 Params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nPFrames : Number of P frames between each I frame + * nBFrames : Number of B frames between each I frame + * eProfile : H.263 profile(s) to use + * eLevel : H.263 level(s) to use + * bPLUSPTYPEAllowed : Indicating that it is allowed to use PLUSPTYPE + * (specified in the 1998 version of H.263) to + * indicate custom picture sizes or clock + * frequencies + * nAllowedPictureTypes : Specifies the picture types allowed in the + * bitstream + * bForceRoundingTypeToZero : value of the RTYPE bit (bit 6 of MPPTYPE) is + * not constrained. It is recommended to change + * the value of the RTYPE bit for each reference + * picture in error-free communication + * nPictureHeaderRepetition : Specifies the frequency of picture header + * repetition + * nGOBHeaderInterval : Specifies the interval of non-empty GOB + * headers in units of GOBs + */ +typedef struct OMX_VIDEO_PARAM_H263TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nPFrames; + OMX_U32 nBFrames; + OMX_VIDEO_H263PROFILETYPE eProfile; + OMX_VIDEO_H263LEVELTYPE eLevel; + OMX_BOOL bPLUSPTYPEAllowed; + OMX_U32 nAllowedPictureTypes; + OMX_BOOL bForceRoundingTypeToZero; + OMX_U32 nPictureHeaderRepetition; + OMX_U32 nGOBHeaderInterval; +} OMX_VIDEO_PARAM_H263TYPE; + + +/** + * MPEG-2 profile types, each profile indicates support for various + * performance bounds and different annexes. + */ +typedef enum OMX_VIDEO_MPEG2PROFILETYPE { + OMX_VIDEO_MPEG2ProfileSimple = 0, /**< Simple Profile */ + OMX_VIDEO_MPEG2ProfileMain, /**< Main Profile */ + OMX_VIDEO_MPEG2Profile422, /**< 4:2:2 Profile */ + OMX_VIDEO_MPEG2ProfileSNR, /**< SNR Profile */ + OMX_VIDEO_MPEG2ProfileSpatial, /**< Spatial Profile */ + OMX_VIDEO_MPEG2ProfileHigh, /**< High Profile */ + OMX_VIDEO_MPEG2ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_MPEG2ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_MPEG2ProfileMax = 0x7FFFFFFF +} OMX_VIDEO_MPEG2PROFILETYPE; + + +/** + * MPEG-2 level types, each level indicates support for various frame + * sizes, bit rates, decoder frame rates. No need + */ +typedef enum OMX_VIDEO_MPEG2LEVELTYPE { + OMX_VIDEO_MPEG2LevelLL = 0, /**< Low Level */ + OMX_VIDEO_MPEG2LevelML, /**< Main Level */ + OMX_VIDEO_MPEG2LevelH14, /**< High 1440 */ + OMX_VIDEO_MPEG2LevelHL, /**< High Level */ + OMX_VIDEO_MPEG2LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_MPEG2LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_MPEG2LevelMax = 0x7FFFFFFF +} OMX_VIDEO_MPEG2LEVELTYPE; + + +/** + * MPEG-2 params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nPFrames : Number of P frames between each I frame + * nBFrames : Number of B frames between each I frame + * eProfile : MPEG-2 profile(s) to use + * eLevel : MPEG-2 levels(s) to use + */ +typedef struct OMX_VIDEO_PARAM_MPEG2TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nPFrames; + OMX_U32 nBFrames; + OMX_VIDEO_MPEG2PROFILETYPE eProfile; + OMX_VIDEO_MPEG2LEVELTYPE eLevel; +} OMX_VIDEO_PARAM_MPEG2TYPE; + + +/** + * MPEG-4 profile types, each profile indicates support for various + * performance bounds and different annexes. + * + * ENUMS: + * - Simple Profile, Levels 1-3 + * - Simple Scalable Profile, Levels 1-2 + * - Core Profile, Levels 1-2 + * - Main Profile, Levels 2-4 + * - N-bit Profile, Level 2 + * - Scalable Texture Profile, Level 1 + * - Simple Face Animation Profile, Levels 1-2 + * - Simple Face and Body Animation (FBA) Profile, Levels 1-2 + * - Basic Animated Texture Profile, Levels 1-2 + * - Hybrid Profile, Levels 1-2 + * - Advanced Real Time Simple Profiles, Levels 1-4 + * - Core Scalable Profile, Levels 1-3 + * - Advanced Coding Efficiency Profile, Levels 1-4 + * - Advanced Core Profile, Levels 1-2 + * - Advanced Scalable Texture, Levels 2-3 + */ +typedef enum OMX_VIDEO_MPEG4PROFILETYPE { + OMX_VIDEO_MPEG4ProfileSimple = 0x01, + OMX_VIDEO_MPEG4ProfileSimpleScalable = 0x02, + OMX_VIDEO_MPEG4ProfileCore = 0x04, + OMX_VIDEO_MPEG4ProfileMain = 0x08, + OMX_VIDEO_MPEG4ProfileNbit = 0x10, + OMX_VIDEO_MPEG4ProfileScalableTexture = 0x20, + OMX_VIDEO_MPEG4ProfileSimpleFace = 0x40, + OMX_VIDEO_MPEG4ProfileSimpleFBA = 0x80, + OMX_VIDEO_MPEG4ProfileBasicAnimated = 0x100, + OMX_VIDEO_MPEG4ProfileHybrid = 0x200, + OMX_VIDEO_MPEG4ProfileAdvancedRealTime = 0x400, + OMX_VIDEO_MPEG4ProfileCoreScalable = 0x800, + OMX_VIDEO_MPEG4ProfileAdvancedCoding = 0x1000, + OMX_VIDEO_MPEG4ProfileAdvancedCore = 0x2000, + OMX_VIDEO_MPEG4ProfileAdvancedScalable = 0x4000, + OMX_VIDEO_MPEG4ProfileAdvancedSimple = 0x8000, + OMX_VIDEO_MPEG4ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_MPEG4ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_MPEG4ProfileMax = 0x7FFFFFFF +} OMX_VIDEO_MPEG4PROFILETYPE; + + +/** + * MPEG-4 level types, each level indicates support for various frame + * sizes, bit rates, decoder frame rates. No need + */ +typedef enum OMX_VIDEO_MPEG4LEVELTYPE { + OMX_VIDEO_MPEG4Level0 = 0x01, /**< Level 0 */ + OMX_VIDEO_MPEG4Level0b = 0x02, /**< Level 0b */ + OMX_VIDEO_MPEG4Level1 = 0x04, /**< Level 1 */ + OMX_VIDEO_MPEG4Level2 = 0x08, /**< Level 2 */ + OMX_VIDEO_MPEG4Level3 = 0x10, /**< Level 3 */ + OMX_VIDEO_MPEG4Level4 = 0x20, /**< Level 4 */ + OMX_VIDEO_MPEG4Level4a = 0x40, /**< Level 4a */ + OMX_VIDEO_MPEG4Level5 = 0x80, /**< Level 5 */ + OMX_VIDEO_MPEG4LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_MPEG4LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_MPEG4LevelMax = 0x7FFFFFFF +} OMX_VIDEO_MPEG4LEVELTYPE; + + +/** + * MPEG-4 configuration. This structure handles configuration options + * which are specific to MPEG4 algorithms + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nSliceHeaderSpacing : Number of macroblocks between slice header (H263+ + * Annex K). Put zero if not used + * bSVH : Enable Short Video Header mode + * bGov : Flag to enable GOV + * nPFrames : Number of P frames between each I frame (also called + * GOV period) + * nBFrames : Number of B frames between each I frame + * nIDCVLCThreshold : Value of intra DC VLC threshold + * bACPred : Flag to use ac prediction + * nMaxPacketSize : Maximum size of packet in bytes. + * nTimeIncRes : Used to pass VOP time increment resolution for MPEG4. + * Interpreted as described in MPEG4 standard. + * eProfile : MPEG-4 profile(s) to use. + * eLevel : MPEG-4 level(s) to use. + * nAllowedPictureTypes : Specifies the picture types allowed in the bitstream + * nHeaderExtension : Specifies the number of consecutive video packet + * headers within a VOP + * bReversibleVLC : Specifies whether reversible variable length coding + * is in use + */ +typedef struct OMX_VIDEO_PARAM_MPEG4TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nSliceHeaderSpacing; + OMX_BOOL bSVH; + OMX_BOOL bGov; + OMX_U32 nPFrames; + OMX_U32 nBFrames; + OMX_U32 nIDCVLCThreshold; + OMX_BOOL bACPred; + OMX_U32 nMaxPacketSize; + OMX_U32 nTimeIncRes; + OMX_VIDEO_MPEG4PROFILETYPE eProfile; + OMX_VIDEO_MPEG4LEVELTYPE eLevel; + OMX_U32 nAllowedPictureTypes; + OMX_U32 nHeaderExtension; + OMX_BOOL bReversibleVLC; +} OMX_VIDEO_PARAM_MPEG4TYPE; + + +/** + * WMV Versions + */ +typedef enum OMX_VIDEO_WMVFORMATTYPE { + OMX_VIDEO_WMVFormatUnused = 0x01, /**< Format unused or unknown */ + OMX_VIDEO_WMVFormat7 = 0x02, /**< Windows Media Video format 7 */ + OMX_VIDEO_WMVFormat8 = 0x04, /**< Windows Media Video format 8 */ + OMX_VIDEO_WMVFormat9 = 0x08, /**< Windows Media Video format 9 */ + OMX_VIDEO_WMFFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_WMFFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_WMVFormatMax = 0x7FFFFFFF +} OMX_VIDEO_WMVFORMATTYPE; + + +/** + * WMV Params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFormat : Version of WMV stream / data + */ +typedef struct OMX_VIDEO_PARAM_WMVTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_WMVFORMATTYPE eFormat; +} OMX_VIDEO_PARAM_WMVTYPE; + + +/** + * Real Video Version + */ +typedef enum OMX_VIDEO_RVFORMATTYPE { + OMX_VIDEO_RVFormatUnused = 0, /**< Format unused or unknown */ + OMX_VIDEO_RVFormat8, /**< Real Video format 8 */ + OMX_VIDEO_RVFormat9, /**< Real Video format 9 */ + OMX_VIDEO_RVFormatG2, /**< Real Video Format G2 */ + OMX_VIDEO_RVFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_RVFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_RVFormatMax = 0x7FFFFFFF +} OMX_VIDEO_RVFORMATTYPE; + + +/** + * Real Video Params + * + * STUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * eFormat : Version of RV stream / data + * nBitsPerPixel : Bits per pixel coded in the frame + * nPaddedWidth : Padded width in pixel of a video frame + * nPaddedHeight : Padded Height in pixels of a video frame + * nFrameRate : Rate of video in frames per second + * nBitstreamFlags : Flags which internal information about the bitstream + * nBitstreamVersion : Bitstream version + * nMaxEncodeFrameSize: Max encoded frame size + * bEnablePostFilter : Turn on/off post filter + * bEnableTemporalInterpolation : Turn on/off temporal interpolation + * bEnableLatencyMode : When enabled, the decoder does not display a decoded + * frame until it has detected that no enhancement layer + * frames or dependent B frames will be coming. This + * detection usually occurs when a subsequent non-B + * frame is encountered + */ +typedef struct OMX_VIDEO_PARAM_RVTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_RVFORMATTYPE eFormat; + OMX_U16 nBitsPerPixel; + OMX_U16 nPaddedWidth; + OMX_U16 nPaddedHeight; + OMX_U32 nFrameRate; + OMX_U32 nBitstreamFlags; + OMX_U32 nBitstreamVersion; + OMX_U32 nMaxEncodeFrameSize; + OMX_BOOL bEnablePostFilter; + OMX_BOOL bEnableTemporalInterpolation; + OMX_BOOL bEnableLatencyMode; +} OMX_VIDEO_PARAM_RVTYPE; + + +/** + * AVC profile types, each profile indicates support for various + * performance bounds and different annexes. + */ +typedef enum OMX_VIDEO_AVCPROFILETYPE { + OMX_VIDEO_AVCProfileBaseline = 0x01, /**< Baseline profile */ + OMX_VIDEO_AVCProfileMain = 0x02, /**< Main profile */ + OMX_VIDEO_AVCProfileExtended = 0x04, /**< Extended profile */ + OMX_VIDEO_AVCProfileHigh = 0x08, /**< High profile */ + OMX_VIDEO_AVCProfileHigh10 = 0x10, /**< High 10 profile */ + OMX_VIDEO_AVCProfileHigh422 = 0x20, /**< High 4:2:2 profile */ + OMX_VIDEO_AVCProfileHigh444 = 0x40, /**< High 4:4:4 profile */ + OMX_VIDEO_AVCProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_AVCProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_AVCProfileMax = 0x7FFFFFFF +} OMX_VIDEO_AVCPROFILETYPE; + + +/** + * AVC level types, each level indicates support for various frame sizes, + * bit rates, decoder frame rates. No need + */ +typedef enum OMX_VIDEO_AVCLEVELTYPE { + OMX_VIDEO_AVCLevel1 = 0x01, /**< Level 1 */ + OMX_VIDEO_AVCLevel1b = 0x02, /**< Level 1b */ + OMX_VIDEO_AVCLevel11 = 0x04, /**< Level 1.1 */ + OMX_VIDEO_AVCLevel12 = 0x08, /**< Level 1.2 */ + OMX_VIDEO_AVCLevel13 = 0x10, /**< Level 1.3 */ + OMX_VIDEO_AVCLevel2 = 0x20, /**< Level 2 */ + OMX_VIDEO_AVCLevel21 = 0x40, /**< Level 2.1 */ + OMX_VIDEO_AVCLevel22 = 0x80, /**< Level 2.2 */ + OMX_VIDEO_AVCLevel3 = 0x100, /**< Level 3 */ + OMX_VIDEO_AVCLevel31 = 0x200, /**< Level 3.1 */ + OMX_VIDEO_AVCLevel32 = 0x400, /**< Level 3.2 */ + OMX_VIDEO_AVCLevel4 = 0x800, /**< Level 4 */ + OMX_VIDEO_AVCLevel41 = 0x1000, /**< Level 4.1 */ + OMX_VIDEO_AVCLevel42 = 0x2000, /**< Level 4.2 */ + OMX_VIDEO_AVCLevel5 = 0x4000, /**< Level 5 */ + OMX_VIDEO_AVCLevel51 = 0x8000, /**< Level 5.1 */ + OMX_VIDEO_AVCLevel52 = 0x10000, /**< Level 5.2 */ + OMX_VIDEO_AVCLevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_AVCLevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_AVCLevelMax = 0x7FFFFFFF +} OMX_VIDEO_AVCLEVELTYPE; + + +/** + * AVC loop filter modes + * + * OMX_VIDEO_AVCLoopFilterEnable : Enable + * OMX_VIDEO_AVCLoopFilterDisable : Disable + * OMX_VIDEO_AVCLoopFilterDisableSliceBoundary : Disabled on slice boundaries + */ +typedef enum OMX_VIDEO_AVCLOOPFILTERTYPE { + OMX_VIDEO_AVCLoopFilterEnable = 0, + OMX_VIDEO_AVCLoopFilterDisable, + OMX_VIDEO_AVCLoopFilterDisableSliceBoundary, + OMX_VIDEO_AVCLoopFilterKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_AVCLoopFilterVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_AVCLoopFilterMax = 0x7FFFFFFF +} OMX_VIDEO_AVCLOOPFILTERTYPE; + + +/** + * AVC params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nSliceHeaderSpacing : Number of macroblocks between slice header, put + * zero if not used + * nPFrames : Number of P frames between each I frame + * nBFrames : Number of B frames between each I frame + * bUseHadamard : Enable/disable Hadamard transform + * nRefFrames : Max number of reference frames to use for inter + * motion search (1-16) + * nRefIdxTrailing : Pic param set ref frame index (index into ref + * frame buffer of trailing frames list), B frame + * support + * nRefIdxForward : Pic param set ref frame index (index into ref + * frame buffer of forward frames list), B frame + * support + * bEnableUEP : Enable/disable unequal error protection. This + * is only valid of data partitioning is enabled. + * bEnableFMO : Enable/disable flexible macroblock ordering + * bEnableASO : Enable/disable arbitrary slice ordering + * bEnableRS : Enable/disable sending of redundant slices + * eProfile : AVC profile(s) to use + * eLevel : AVC level(s) to use + * nAllowedPictureTypes : Specifies the picture types allowed in the + * bitstream + * bFrameMBsOnly : specifies that every coded picture of the + * coded video sequence is a coded frame + * containing only frame macroblocks + * bMBAFF : Enable/disable switching between frame and + * field macroblocks within a picture + * bEntropyCodingCABAC : Entropy decoding method to be applied for the + * syntax elements for which two descriptors appear + * in the syntax tables + * bWeightedPPrediction : Enable/disable weighted prediction shall not + * be applied to P and SP slices + * nWeightedBipredicitonMode : Default weighted prediction is applied to B + * slices + * bconstIpred : Enable/disable intra prediction + * bDirect8x8Inference : Specifies the method used in the derivation + * process for luma motion vectors for B_Skip, + * B_Direct_16x16 and B_Direct_8x8 as specified + * in subclause 8.4.1.2 of the AVC spec + * bDirectSpatialTemporal : Flag indicating spatial or temporal direct + * mode used in B slice coding (related to + * bDirect8x8Inference) . Spatial direct mode is + * more common and should be the default. + * nCabacInitIdx : Index used to init CABAC contexts + * eLoopFilterMode : Enable/disable loop filter + */ +typedef struct OMX_VIDEO_PARAM_AVCTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nSliceHeaderSpacing; + OMX_U32 nPFrames; + OMX_U32 nBFrames; + OMX_BOOL bUseHadamard; + OMX_U32 nRefFrames; + OMX_U32 nRefIdx10ActiveMinus1; + OMX_U32 nRefIdx11ActiveMinus1; + OMX_BOOL bEnableUEP; + OMX_BOOL bEnableFMO; + OMX_BOOL bEnableASO; + OMX_BOOL bEnableRS; + OMX_VIDEO_AVCPROFILETYPE eProfile; + OMX_VIDEO_AVCLEVELTYPE eLevel; + OMX_U32 nAllowedPictureTypes; + OMX_BOOL bFrameMBsOnly; + OMX_BOOL bMBAFF; + OMX_BOOL bEntropyCodingCABAC; + OMX_BOOL bWeightedPPrediction; + OMX_U32 nWeightedBipredicitonMode; + OMX_BOOL bconstIpred ; + OMX_BOOL bDirect8x8Inference; + OMX_BOOL bDirectSpatialTemporal; + OMX_U32 nCabacInitIdc; + OMX_VIDEO_AVCLOOPFILTERTYPE eLoopFilterMode; +} OMX_VIDEO_PARAM_AVCTYPE; + +typedef struct OMX_VIDEO_PARAM_PROFILELEVELTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 eProfile; /**< type is OMX_VIDEO_AVCPROFILETYPE, OMX_VIDEO_H263PROFILETYPE, + or OMX_VIDEO_MPEG4PROFILETYPE depending on context */ + OMX_U32 eLevel; /**< type is OMX_VIDEO_AVCLEVELTYPE, OMX_VIDEO_H263LEVELTYPE, + or OMX_VIDEO_MPEG4PROFILETYPE depending on context */ + OMX_U32 nProfileIndex; /**< Used to query for individual profile support information, + This parameter is valid only for + OMX_IndexParamVideoProfileLevelQuerySupported index, + For all other indices this parameter is to be ignored. */ +} OMX_VIDEO_PARAM_PROFILELEVELTYPE; + +/** + * Structure for dynamically configuring bitrate mode of a codec. + * + * STRUCT MEMBERS: + * nSize : Size of the struct in bytes + * nVersion : OMX spec version info + * nPortIndex : Port that this struct applies to + * nEncodeBitrate : Target average bitrate to be generated in bps + */ +typedef struct OMX_VIDEO_CONFIG_BITRATETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nEncodeBitrate; +} OMX_VIDEO_CONFIG_BITRATETYPE; + +/** + * Defines Encoder Frame Rate setting + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * xEncodeFramerate : Encoding framerate represented in Q16 format + */ +typedef struct OMX_CONFIG_FRAMERATETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 xEncodeFramerate; /* Q16 format */ +} OMX_CONFIG_FRAMERATETYPE; + +typedef struct OMX_CONFIG_INTRAREFRESHVOPTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL IntraRefreshVOP; +} OMX_CONFIG_INTRAREFRESHVOPTYPE; + +typedef struct OMX_CONFIG_MACROBLOCKERRORMAPTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nErrMapSize; /* Size of the Error Map in bytes */ + OMX_U8 ErrMap[1]; /* Error map hint */ +} OMX_CONFIG_MACROBLOCKERRORMAPTYPE; + +typedef struct OMX_CONFIG_MBERRORREPORTINGTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bEnabled; +} OMX_CONFIG_MBERRORREPORTINGTYPE; + +typedef struct OMX_PARAM_MACROBLOCKSTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nMacroblocks; +} OMX_PARAM_MACROBLOCKSTYPE; + +/** + * AVC Slice Mode modes + * + * OMX_VIDEO_SLICEMODE_AVCDefault : Normal frame encoding, one slice per frame + * OMX_VIDEO_SLICEMODE_AVCMBSlice : NAL mode, number of MBs per frame + * OMX_VIDEO_SLICEMODE_AVCByteSlice : NAL mode, number of bytes per frame + */ +typedef enum OMX_VIDEO_AVCSLICEMODETYPE { + OMX_VIDEO_SLICEMODE_AVCDefault = 0, + OMX_VIDEO_SLICEMODE_AVCMBSlice, + OMX_VIDEO_SLICEMODE_AVCByteSlice, + OMX_VIDEO_SLICEMODE_AVCKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ + OMX_VIDEO_SLICEMODE_AVCVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ + OMX_VIDEO_SLICEMODE_AVCLevelMax = 0x7FFFFFFF +} OMX_VIDEO_AVCSLICEMODETYPE; + +/** + * AVC FMO Slice Mode Params + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nNumSliceGroups : Specifies the number of slice groups + * nSliceGroupMapType : Specifies the type of slice groups + * eSliceMode : Specifies the type of slice + */ +typedef struct OMX_VIDEO_PARAM_AVCSLICEFMO { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U8 nNumSliceGroups; + OMX_U8 nSliceGroupMapType; + OMX_VIDEO_AVCSLICEMODETYPE eSliceMode; +} OMX_VIDEO_PARAM_AVCSLICEFMO; + +/** + * AVC IDR Period Configs + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nIDRPeriod : Specifies periodicity of IDR frames + * nPFrames : Specifies internal of coding Intra frames + */ +typedef struct OMX_VIDEO_CONFIG_AVCINTRAPERIOD { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nIDRPeriod; + OMX_U32 nPFrames; +} OMX_VIDEO_CONFIG_AVCINTRAPERIOD; + +/** + * AVC NAL Size Configs + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nNaluBytes : Specifies the NAL unit size + */ +typedef struct OMX_VIDEO_CONFIG_NALSIZE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nNaluBytes; +} OMX_VIDEO_CONFIG_NALSIZE; + + +/** + * Deinterlace Config + * + * STRUCT MEMBERS: + * nSize : Size of the structure in bytes + * nVersion : OMX specification version information + * nPortIndex : Port that this structure applies to + * nEnable : Specifies to enable deinterlace + */ +typedef struct OMX_VIDEO_CONFIG_DEINTERLACE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_U32 nEnable; +} OMX_VIDEO_CONFIG_DEINTERLACE; + +/** @} */ + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif +/* File EOF */ + diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_VideoExt.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_VideoExt.h new file mode 100644 index 000000000..5bf6fd487 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_VideoExt.h @@ -0,0 +1,166 @@ +/* + * Copyright (c) 2010 The Khronos Group 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. + * + */ + +/** OMX_VideoExt.h - OpenMax IL version 1.1.2 + * The OMX_VideoExt header file contains extensions to the + * definitions used by both the application and the component to + * access video items. + */ + +#ifndef OMX_VideoExt_h +#define OMX_VideoExt_h + +#ifdef __cplusplus +extern "C" { +#endif /* __cplusplus */ + +/* Each OMX header shall include all required header files to allow the + * header to compile without errors. The includes below are required + * for this header file to compile successfully + */ +#include + +/** NALU Formats */ +typedef enum OMX_NALUFORMATSTYPE { + OMX_NaluFormatStartCodes = 1, + OMX_NaluFormatOneNaluPerBuffer = 2, + OMX_NaluFormatOneByteInterleaveLength = 4, + OMX_NaluFormatTwoByteInterleaveLength = 8, + OMX_NaluFormatFourByteInterleaveLength = 16, + OMX_NaluFormatCodingMax = 0x7FFFFFFF +} OMX_NALUFORMATSTYPE; + +/** NAL Stream Format */ +typedef struct OMX_NALSTREAMFORMATTYPE{ + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_NALUFORMATSTYPE eNaluFormat; +} OMX_NALSTREAMFORMATTYPE; + +/** VP8 profiles */ +typedef enum OMX_VIDEO_VP8PROFILETYPE { + OMX_VIDEO_VP8ProfileMain = 0x01, + OMX_VIDEO_VP8ProfileUnknown = 0x6EFFFFFF, + OMX_VIDEO_VP8ProfileMax = 0x7FFFFFFF +} OMX_VIDEO_VP8PROFILETYPE; + +/** VP8 levels */ +typedef enum OMX_VIDEO_VP8LEVELTYPE { + OMX_VIDEO_VP8Level_Version0 = 0x01, + OMX_VIDEO_VP8Level_Version1 = 0x02, + OMX_VIDEO_VP8Level_Version2 = 0x04, + OMX_VIDEO_VP8Level_Version3 = 0x08, + OMX_VIDEO_VP8LevelUnknown = 0x6EFFFFFF, + OMX_VIDEO_VP8LevelMax = 0x7FFFFFFF +} OMX_VIDEO_VP8LEVELTYPE; + +/** VP8 Param */ +typedef struct OMX_VIDEO_PARAM_VP8TYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_VP8PROFILETYPE eProfile; + OMX_VIDEO_VP8LEVELTYPE eLevel; + OMX_U32 nDCTPartitions; + OMX_BOOL bErrorResilientMode; +} OMX_VIDEO_PARAM_VP8TYPE; + +/** Structure for configuring VP8 reference frames */ +typedef struct OMX_VIDEO_VP8REFERENCEFRAMETYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bPreviousFrameRefresh; + OMX_BOOL bGoldenFrameRefresh; + OMX_BOOL bAlternateFrameRefresh; + OMX_BOOL bUsePreviousFrame; + OMX_BOOL bUseGoldenFrame; + OMX_BOOL bUseAlternateFrame; +} OMX_VIDEO_VP8REFERENCEFRAMETYPE; + +/** Structure for querying VP8 reference frame type */ +typedef struct OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_BOOL bIsIntraFrame; + OMX_BOOL bIsGoldenOrAlternateFrame; +} OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE; + +/** HEVC Profiles */ +typedef enum OMX_VIDEO_HEVCPROFILETYPE { + OMX_VIDEO_HEVCProfileMain = 0x01, + OMX_VIDEO_HEVCProfileMain10 = 0x02, + OMX_VIDEO_HEVCProfileUnknown = 0x6EFFFFFF, + OMX_VIDEO_HEVCProfileMax = 0x7FFFFFFF +} OMX_VIDEO_HEVCPROFILETYPE; + +/** HEVC levels */ +typedef enum OMX_VIDEO_HEVCLEVELTYPE { + OMX_VIDEO_HEVCLevel_Version0 = 0x0, + OMX_VIDEO_HEVCMainTierLevel1 = 0x1, + OMX_VIDEO_HEVCHighTierLevel1 = 0x2, + OMX_VIDEO_HEVCMainTierLevel2 = 0x4, + OMX_VIDEO_HEVCHighTierLevel2 = 0x8, + OMX_VIDEO_HEVCMainTierLevel21 = 0x10, + OMX_VIDEO_HEVCHighTierLevel21 = 0x20, + OMX_VIDEO_HEVCMainTierLevel3 = 0x40, + OMX_VIDEO_HEVCHighTierLevel3 = 0x80, + OMX_VIDEO_HEVCMainTierLevel31 = 0x100, + OMX_VIDEO_HEVCHighTierLevel31 = 0x200, + OMX_VIDEO_HEVCMainTierLevel4 = 0x400, + OMX_VIDEO_HEVCHighTierLevel4 = 0x800, + OMX_VIDEO_HEVCMainTierLevel41 = 0x1000, + OMX_VIDEO_HEVCHighTierLevel41 = 0x2000, + OMX_VIDEO_HEVCMainTierLevel5 = 0x4000, + OMX_VIDEO_HEVCHighTierLevel5 = 0x8000, + OMX_VIDEO_HEVCMainTierLevel51 = 0x10000, + OMX_VIDEO_HEVCHighTierLevel51 = 0x20000, + OMX_VIDEO_HEVCMainTierLevel52 = 0x40000, + OMX_VIDEO_HEVCHighTierLevel52 = 0x80000, + OMX_VIDEO_HEVCMainTierLevel6 = 0x100000, + OMX_VIDEO_HEVCHighTierLevel6 = 0x200000, + OMX_VIDEO_HEVCMainTierLevel61 = 0x400000, + OMX_VIDEO_HEVCHighTierLevel61 = 0x800000, + OMX_VIDEO_HEVCMainTierLevel62 = 0x1000000, + OMX_VIDEO_HEVCLevelUnknown = 0x6EFFFFFF, + OMX_VIDEO_HEVCLevelMax = 0x7FFFFFFF +} OMX_VIDEO_HEVCLEVELTYPE; + +/** HEVC Param */ +typedef struct OMX_VIDEO_PARAM_HEVCTYPE { + OMX_U32 nSize; + OMX_VERSIONTYPE nVersion; + OMX_U32 nPortIndex; + OMX_VIDEO_HEVCPROFILETYPE eProfile; + OMX_VIDEO_HEVCLEVELTYPE eLevel; +} OMX_VIDEO_PARAM_HEVCTYPE; + + +#ifdef __cplusplus +} +#endif /* __cplusplus */ + +#endif /* OMX_VideoExt_h */ +/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc new file mode 100644 index 000000000..c427c899a --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc @@ -0,0 +1,166 @@ +#include "libyuv.h" + +#include "selfdrive/ui/qt/util.h" + +#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" + +namespace { + long long currentMilliseconds() { + return std::chrono::duration_cast(std::chrono::system_clock::now().time_since_epoch()).count(); + } + + uint64_t nanosSinceBoot() { + return std::chrono::duration_cast(std::chrono::steady_clock::now().time_since_epoch()).count(); + } +} + +ScreenRecorder::ScreenRecorder(QWidget *parent) : QPushButton(parent) { + setFixedSize(btn_size, btn_size); + + std::thread encoderInitThread([this]() { + encoder = std::make_unique("/data/media/screen_recordings", screenWidth, screenHeight, UI_FREQ, 8 * 1024 * 1024); + encoderReady = true; + }); + encoderInitThread.detach(); + + rgbScaleBuffer = std::make_unique(screenWidth * screenHeight * 4); + + QObject::connect(this, &QPushButton::clicked, this, &ScreenRecorder::toggleRecording); +} + +ScreenRecorder::~ScreenRecorder() { + stopRecording(); +} + +void ScreenRecorder::toggleRecording() { + if (recording) { + stopRecording(); + } else { + startRecording(); + } +} + +void ScreenRecorder::startRecording() { + if (recording || !encoderReady) { + std::cerr << "Recording already in progress or encoder not ready." << std::endl; + return; + } + + recording = true; + + rootWidget = this; + while (rootWidget->parentWidget()) { + rootWidget = rootWidget->parentWidget(); + } + + QString filename = QDateTime::currentDateTime().toString("MMMM_dd_yyyy-hh:mmAP") + ".mp4"; + openEncoder(filename.toStdString()); + encodingThread = std::thread(&ScreenRecorder::encodingThreadFunction, this); + startedTime = currentMilliseconds(); +} + +void ScreenRecorder::stopRecording() { + if (!recording) { + return; + } + + recording = false; + + if (encodingThread.joinable()) { + encodingThread.join(); + } + + closeEncoder(); + imageQueue.clear(); + rgbScaleBuffer = std::make_unique(screenWidth * screenHeight * 4); +} + +void ScreenRecorder::openEncoder(const std::string &filename) { + if (encoder) { + encoder->encoder_open(filename.c_str()); + } +} + +void ScreenRecorder::closeEncoder() { + if (encoder) { + encoder->encoder_close(); + } +} + +void ScreenRecorder::encodingThreadFunction() { + uint64_t startTime = nanosSinceBoot(); + + while (recording) { + QImage image; + if (imageQueue.pop_wait_for(image, std::chrono::milliseconds(10))) { + QImage convertedImage = image.convertToFormat(QImage::Format_RGBA8888); + libyuv::ARGBScale( + convertedImage.bits(), + convertedImage.width() * 4, + convertedImage.width(), + convertedImage.height(), + rgbScaleBuffer.get(), + screenWidth * 4, + screenWidth, + screenHeight, + libyuv::kFilterBilinear + ); + encoder->encode_frame_rgba( + rgbScaleBuffer.get(), + screenWidth, + screenHeight, + nanosSinceBoot() - startTime + ); + } + } +} + +void ScreenRecorder::updateScreen(double fps, bool started) { + if (!recording) { + return; + } + + if (!started) { + stopRecording(); + return; + } + + static long long recordingDurationLimit = 1000 * 60 * 3; + if (currentMilliseconds() - startedTime > recordingDurationLimit) { + stopRecording(); + startRecording(); + return; + } + + if (rootWidget) { + imageQueue.push(rootWidget->grab().toImage()); + } +} + +void ScreenRecorder::paintEvent(QPaintEvent *event) { + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + if (recording) { + painter.setPen(QPen(redColor(), 6)); + painter.setBrush(redColor(166)); + painter.setFont(InterFont(25, QFont::Bold)); + } else { + painter.setPen(QPen(redColor(), 6)); + painter.setBrush(blackColor(166)); + painter.setFont(InterFont(25, QFont::DemiBold)); + } + + int centeringOffset = 10; + QRect buttonRect(centeringOffset, btn_size / 3, btn_size - centeringOffset * 2, btn_size / 3); + painter.drawRoundedRect(buttonRect, 24, 24); + + QRect textRect = buttonRect.adjusted(centeringOffset, 0, -centeringOffset, 0); + painter.setPen(QPen(whiteColor(), 6)); + painter.drawText(textRect, Qt::AlignLeft | Qt::AlignVCenter, tr("RECORD")); + + if (recording && ((currentMilliseconds() - startedTime) / 1000) % 2 == 0) { + painter.setPen(Qt::NoPen); + painter.drawEllipse(QPoint(buttonRect.right() - btn_size / 10 - centeringOffset, buttonRect.center().y()), btn_size / 10, btn_size / 10); + } +} diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.h b/selfdrive/frogpilot/screenrecorder/screenrecorder.h new file mode 100644 index 000000000..4747d6269 --- /dev/null +++ b/selfdrive/frogpilot/screenrecorder/screenrecorder.h @@ -0,0 +1,51 @@ +#pragma once + +#include "omx_encoder.h" +#include "blocking_queue.h" + +#include "selfdrive/ui/qt/onroad/buttons.h" + +class ScreenRecorder : public QPushButton { + Q_OBJECT + +public: + explicit ScreenRecorder(QWidget *parent = nullptr); + ~ScreenRecorder() override; + + void updateScreen(double fps, bool started); + +protected: + void paintEvent(QPaintEvent *event) override; + +private slots: + void toggleRecording(); + +private: + void closeEncoder(); + void encodingThreadFunction(); + void openEncoder(const std::string &filename); + void startRecording(); + void stopRecording(); + + BlockingQueue imageQueue{UI_FREQ}; + + inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } + inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } + inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } + + QWidget *rootWidget = nullptr; + + int screenHeight = 1080; + int screenWidth = 2160; + + long long startedTime = 0; + + std::atomic encoderReady{false}; + std::atomic recording{false}; + + std::unique_ptr encoder; + + std::unique_ptr rgbScaleBuffer; + + std::thread encodingThread; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc new file mode 100644 index 000000000..9042c1388 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc @@ -0,0 +1,437 @@ +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h" + +FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + ButtonControl *deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Footage and Data"), tr("DELETE"), tr("Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.")); + QObject::connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() { + QDir realdataDir("/data/media/0/realdata"); + + if (ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) { + std::thread([=]() mutable { + parent->keepScreenOn = true; + + deleteDrivingDataBtn->setEnabled(false); + deleteDrivingDataBtn->setValue(tr("Deleting...")); + + realdataDir.removeRecursively(); + realdataDir.mkpath("."); + + deleteDrivingDataBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + deleteDrivingDataBtn->setEnabled(true); + deleteDrivingDataBtn->setValue(""); + + parent->keepScreenOn = false; + }).detach(); + } + }); + addItem(deleteDrivingDataBtn); + + FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Manage your screen recordings."), {tr("DELETE"), tr("DELETE ALL"), tr("RENAME")}); + QObject::connect(screenRecordingsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir recordingsDir("/data/media/screen_recordings"); + QStringList recordingsNames = recordingsDir.entryList(QDir::Files | QDir::NoDotAndDotDot); + + if (id == 0) { + QString selection = MultiOptionDialog::getSelection(tr("Select a recording to delete"), recordingsNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this recording?"), tr("Delete"), this)) { + std::thread([=]() { + parent->keepScreenOn = true; + + screenRecordingsBtn->setEnabled(false); + screenRecordingsBtn->setValue(tr("Deleting...")); + + screenRecordingsBtn->setVisibleButton(1, false); + screenRecordingsBtn->setVisibleButton(2, false); + + QFile::remove(recordingsDir.absoluteFilePath(selection)); + + screenRecordingsBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + screenRecordingsBtn->setEnabled(true); + screenRecordingsBtn->setValue(""); + + screenRecordingsBtn->setVisibleButton(1, true); + screenRecordingsBtn->setVisibleButton(2, true); + + parent->keepScreenOn = false; + }).detach(); + } + } + + } else if (id == 1) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all screen recordings?"), tr("Delete All"), this)) { + std::thread([=]() mutable { + parent->keepScreenOn = true; + + screenRecordingsBtn->setEnabled(false); + screenRecordingsBtn->setValue(tr("Deleting...")); + + screenRecordingsBtn->setVisibleButton(0, false); + screenRecordingsBtn->setVisibleButton(2, false); + + recordingsDir.removeRecursively(); + recordingsDir.mkpath("."); + + screenRecordingsBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + screenRecordingsBtn->setEnabled(true); + screenRecordingsBtn->setValue(""); + + screenRecordingsBtn->setVisibleButton(0, true); + screenRecordingsBtn->setVisibleButton(2, true); + + parent->keepScreenOn = false; + }).detach(); + } + + } else if (id == 2) { + QString selection = MultiOptionDialog::getSelection(tr("Select a recording to rename"), recordingsNames, "", this); + if (!selection.isEmpty()) { + QString newName = InputDialog::getText(tr("Enter a new name"), this, tr("Rename Recording")).trimmed().replace(" ", "_"); + if (!newName.isEmpty()) { + if (recordingsNames.contains(newName)) { + ConfirmationDialog::alert(tr("A recording with this name already exists. Please choose a different name."), this); + return; + } + std::thread([=]() { + parent->keepScreenOn = true; + + screenRecordingsBtn->setEnabled(false); + screenRecordingsBtn->setValue(tr("Renaming...")); + + screenRecordingsBtn->setVisibleButton(0, false); + screenRecordingsBtn->setVisibleButton(1, false); + + QString newPath = recordingsDir.absoluteFilePath(newName); + QString oldPath = recordingsDir.absoluteFilePath(selection); + QFile::rename(oldPath, newPath); + + screenRecordingsBtn->setValue(tr("Renamed!")); + util::sleep_for(2500); + screenRecordingsBtn->setEnabled(true); + screenRecordingsBtn->setValue(""); + + screenRecordingsBtn->setVisibleButton(0, true); + screenRecordingsBtn->setVisibleButton(1, true); + + parent->keepScreenOn = false; + }).detach(); + } + } + } + }); + addItem(screenRecordingsBtn); + + FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Manage your FrogPilot backups."), {tr("BACKUP"), tr("DELETE"), tr("DELETE ALL"), tr("RESTORE")}); + QObject::connect(frogpilotBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir backupDir("/data/backups"); + QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$")); + + if (id == 0) { + QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1).trimmed().replace(" ", "_"); + if (!nameSelection.isEmpty()) { + if (backupNames.contains(nameSelection)) { + ConfirmationDialog::alert(tr("A backup with this name already exists. Please choose a different name."), this); + return; + } + bool compressed = FrogPilotConfirmationDialog::yesorno(tr("Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes."), this); + std::thread([=]() { + parent->keepScreenOn = true; + + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Backing up...")); + + frogpilotBackupBtn->setVisibleButton(1, false); + frogpilotBackupBtn->setVisibleButton(2, false); + frogpilotBackupBtn->setVisibleButton(3, false); + + std::string fullBackupPath = backupDir.filePath(nameSelection).toStdString(); + std::string inProgressBackupPath = fullBackupPath + "_in_progress"; + + std::filesystem::create_directories(inProgressBackupPath); + std::system(("rsync -av /data/openpilot/ " + inProgressBackupPath + "/").c_str()); + + if (compressed) { + frogpilotBackupBtn->setValue(tr("Compressing...")); + + std::system(("tar -czf " + fullBackupPath + "_in_progress.tar.gz -C " + inProgressBackupPath + " .").c_str()); + std::filesystem::remove_all(inProgressBackupPath); + std::filesystem::rename(fullBackupPath + "_in_progress.tar.gz", fullBackupPath + ".tar.gz"); + } else { + std::filesystem::rename(inProgressBackupPath, fullBackupPath); + } + + frogpilotBackupBtn->setValue(tr("Backup created!")); + util::sleep_for(2500); + frogpilotBackupBtn->setEnabled(true); + frogpilotBackupBtn->setValue(""); + + frogpilotBackupBtn->setVisibleButton(1, true); + frogpilotBackupBtn->setVisibleButton(2, true); + frogpilotBackupBtn->setVisibleButton(3, true); + + parent->keepScreenOn = false; + }).detach(); + } + + } else if (id == 1) { + QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { + std::thread([=]() { + parent->keepScreenOn = true; + + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Deleting...")); + + frogpilotBackupBtn->setVisibleButton(0, false); + frogpilotBackupBtn->setVisibleButton(2, false); + frogpilotBackupBtn->setVisibleButton(3, false); + + QDir dirToDelete(backupDir.filePath(selection)); + if (selection.endsWith(".tar.gz")) { + QFile::remove(dirToDelete.absolutePath()); + } else { + dirToDelete.removeRecursively(); + } + + frogpilotBackupBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + frogpilotBackupBtn->setEnabled(true); + frogpilotBackupBtn->setValue(""); + + frogpilotBackupBtn->setVisibleButton(0, true); + frogpilotBackupBtn->setVisibleButton(2, true); + frogpilotBackupBtn->setVisibleButton(3, true); + + parent->keepScreenOn = false; + }).detach(); + } + } + + } else if (id == 2) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all FrogPilot backups?"), tr("Delete All"), this)) { + std::thread([=]() mutable { + parent->keepScreenOn = true; + + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Deleting...")); + + frogpilotBackupBtn->setVisibleButton(0, false); + frogpilotBackupBtn->setVisibleButton(1, false); + frogpilotBackupBtn->setVisibleButton(3, false); + + backupDir.removeRecursively(); + backupDir.mkpath("."); + + frogpilotBackupBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + frogpilotBackupBtn->setEnabled(true); + frogpilotBackupBtn->setValue(""); + + frogpilotBackupBtn->setVisibleButton(0, true); + frogpilotBackupBtn->setVisibleButton(1, true); + frogpilotBackupBtn->setVisibleButton(3, true); + + parent->keepScreenOn = false; + }).detach(); + } + + } else if (id == 3) { + QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) { + std::thread([=]() { + parent->keepScreenOn = true; + + frogpilotBackupBtn->setEnabled(false); + frogpilotBackupBtn->setValue(tr("Restoring...")); + + frogpilotBackupBtn->setVisibleButton(0, false); + frogpilotBackupBtn->setVisibleButton(1, false); + frogpilotBackupBtn->setVisibleButton(2, false); + + std::string extractDirectory = "/data/restore_temp"; + std::string sourcePath = backupDir.filePath(selection).toStdString(); + std::string targetPath = "/data/safe_staging/finalized"; + + if (selection.endsWith(".tar.gz")) { + frogpilotBackupBtn->setValue(tr("Extracting...")); + + std::filesystem::create_directories(extractDirectory); + std::system(("tar --strip-components=1 -xzf " + sourcePath + " -C " + extractDirectory).c_str()); + + sourcePath = extractDirectory; + } + + std::filesystem::create_directories(targetPath); + std::system(("rsync -av --delete -l " + sourcePath + "/ " + targetPath + "/").c_str()); + + std::filesystem::path overlayFile = targetPath + "/.overlay_consistent"; + std::ofstream(overlayFile).close(); + + if (std::filesystem::exists(extractDirectory)) { + std::filesystem::remove_all(extractDirectory); + } + + params.putBool("AutomaticUpdates", false); + + frogpilotBackupBtn->setValue(tr("Restored!")); + util::sleep_for(2500); + frogpilotBackupBtn->setValue(tr("Rebooting...")); + util::sleep_for(2500); + + Hardware::reboot(); + }).detach(); + } + } + } + }); + addItem(frogpilotBackupBtn); + + FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Manage your toggle backups."), {tr("BACKUP"), tr("DELETE"), tr("DELETE ALL"), tr("RESTORE")}); + QObject::connect(toggleBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + QDir backupDir("/data/toggle_backups"); + QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$")); + + if (id == 0) { + QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1).trimmed().replace(" ", "_"); + if (!nameSelection.isEmpty()) { + if (backupNames.contains(nameSelection)) { + ConfirmationDialog::alert(tr("A backup with this name already exists. Please choose a different name."), this); + return; + } + std::thread([=]() { + parent->keepScreenOn = true; + + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Backing up...")); + + toggleBackupBtn->setVisibleButton(1, false); + toggleBackupBtn->setVisibleButton(2, false); + toggleBackupBtn->setVisibleButton(3, false); + + std::string fullBackupPath = backupDir.filePath(nameSelection).toStdString(); + std::string inProgressBackupPath = fullBackupPath + "_in_progress"; + + std::filesystem::create_directories(inProgressBackupPath); + + std::system(("rsync -av /data/params/d/ " + inProgressBackupPath + "/").c_str()); + + std::filesystem::rename(inProgressBackupPath, fullBackupPath); + + toggleBackupBtn->setValue(tr("Backup created!")); + util::sleep_for(2500); + toggleBackupBtn->setEnabled(true); + toggleBackupBtn->setValue(""); + + toggleBackupBtn->setVisibleButton(1, true); + toggleBackupBtn->setVisibleButton(2, true); + toggleBackupBtn->setVisibleButton(3, true); + + parent->keepScreenOn = false; + }).detach(); + } + + } else if (id == 1) { + QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { + std::thread([=]() { + parent->keepScreenOn = true; + + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Deleting...")); + + toggleBackupBtn->setVisibleButton(0, false); + toggleBackupBtn->setVisibleButton(2, false); + toggleBackupBtn->setVisibleButton(3, false); + + QDir dirToDelete(backupDir.filePath(selection)); + dirToDelete.removeRecursively(); + + toggleBackupBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + toggleBackupBtn->setEnabled(true); + toggleBackupBtn->setValue(""); + + toggleBackupBtn->setVisibleButton(0, true); + toggleBackupBtn->setVisibleButton(2, true); + toggleBackupBtn->setVisibleButton(3, true); + + parent->keepScreenOn = false; + }).detach(); + } + } + + } else if (id == 2) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all toggle backups?"), tr("Delete All"), this)) { + std::thread([=]() mutable { + parent->keepScreenOn = true; + + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Deleting...")); + + toggleBackupBtn->setVisibleButton(0, false); + toggleBackupBtn->setVisibleButton(1, false); + toggleBackupBtn->setVisibleButton(3, false); + + backupDir.removeRecursively(); + backupDir.mkpath("."); + + toggleBackupBtn->setValue(tr("Deleted!")); + util::sleep_for(2500); + toggleBackupBtn->setEnabled(true); + toggleBackupBtn->setValue(""); + + toggleBackupBtn->setVisibleButton(0, true); + toggleBackupBtn->setVisibleButton(1, true); + toggleBackupBtn->setVisibleButton(3, true); + + parent->keepScreenOn = false; + }).detach(); + } + + } else if (id == 3) { + QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); + if (!selection.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) { + std::thread([=]() { + parent->keepScreenOn = true; + + toggleBackupBtn->setEnabled(false); + toggleBackupBtn->setValue(tr("Restoring...")); + + toggleBackupBtn->setVisibleButton(0, false); + toggleBackupBtn->setVisibleButton(1, false); + toggleBackupBtn->setVisibleButton(2, false); + + std::string sourcePath = backupDir.filePath(selection).toStdString(); + std::string targetPath = "/data/params/d"; + + std::filesystem::create_directories(targetPath); + + std::system(("rsync -av -l " + sourcePath + "/ " + targetPath + "/").c_str()); + + updateFrogPilotToggles(); + + toggleBackupBtn->setValue(tr("Restored!")); + util::sleep_for(2500); + toggleBackupBtn->setEnabled(true); + toggleBackupBtn->setValue(""); + + toggleBackupBtn->setVisibleButton(0, true); + toggleBackupBtn->setVisibleButton(1, true); + toggleBackupBtn->setVisibleButton(2, true); + + parent->keepScreenOn = false; + }).detach(); + } + } + } + }); + addItem(toggleBackupBtn); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.h b/selfdrive/frogpilot/ui/qt/offroad/data_settings.h new file mode 100644 index 000000000..8d491738b --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/data_settings.h @@ -0,0 +1,15 @@ +#pragma once + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotDataPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotDataPanel(FrogPilotSettingsWindow *parent); + +private: + FrogPilotSettingsWindow *parent; + + Params params; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc new file mode 100644 index 000000000..4a4a60722 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc @@ -0,0 +1,128 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h" + +FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> deviceToggles { + {"DeviceManagement", tr("Device Settings"), tr("Device behavior settings."), "../frogpilot/assets/toggle_icons/icon_device.png"}, + {"DeviceShutdown", tr("Device Shutdown Timer"), tr("Controls how long the device stays on after you stop driving."), ""}, + {"OfflineMode", tr("Disable Internet Requirement"), tr("Allows the device to work without an internet connection."), ""}, + {"IncreaseThermalLimits", tr("Increase Thermal Safety Limit"), QString("%1

%2").arg(tr("WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits!")).arg(tr("Allows the device to run at higher temperatures than recommended.")), ""}, + {"LowVoltageShutdown", tr("Low Battery Shutdown Threshold"), tr("Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage."), ""}, + {"NoLogging", tr("Turn Off Data Tracking"), QString("%1

%2").arg(tr("WARNING: This will prevent your drives from being recorded and the data will be unobtainable!")).arg(tr("Disables all data tracking to improve privacy.")), ""}, + {"NoUploads", tr("Turn Off Data Uploads"), QString("%1

%2").arg(tr("WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support!")).arg(tr("Stops the device from sending any data to the servers.")), ""}, + + {"ScreenManagement", tr("Screen Settings"), tr("Screen behavior settings."), "../frogpilot/assets/toggle_icons/icon_light.png"}, + {"ScreenBrightness", tr("Screen Brightness (Offroad)"), tr("Controls the screen brightness when you're not driving."), ""}, + {"ScreenBrightnessOnroad", tr("Screen Brightness (Onroad)"), tr("Controls the screen brightness while you're driving."), ""}, + {"ScreenRecorder", tr("Screen Recorder"), tr("Enables a button in the onroad UI to record the screen."), ""}, + {"ScreenTimeout", tr("Screen Timeout (Offroad)"), tr("Controls how long it takes for the screen to turn off when you're not driving."), ""}, + {"ScreenTimeoutOnroad", tr("Screen Timeout (Onroad)"), tr("Controls how long it takes for the screen to turn off while you're driving."), ""} + }; + + for (const auto &[param, title, desc, icon] : deviceToggles) { + AbstractControl *deviceToggle; + + if (param == "DeviceManagement") { + FrogPilotParamManageControl *deviceManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(deviceManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(deviceManagementKeys); + }); + deviceToggle = deviceManagementToggle; + } else if (param == "DeviceShutdown") { + std::map shutdownLabels; + for (int i = 0; i <= 33; ++i) { + shutdownLabels[i] = i == 0 ? tr("5 mins") : i <= 3 ? QString::number(i * 15) + tr(" mins") : QString::number(i - 3) + (i == 4 ? tr(" hour") : tr(" hours")); + } + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, QString(), shutdownLabels); + } else if (param == "NoUploads") { + std::vector uploadsToggles{"DisableOnroadUploads"}; + std::vector uploadsToggleNames{tr("Only Onroad")}; + deviceToggle = new FrogPilotButtonToggleControl(param, title, desc, uploadsToggles, uploadsToggleNames); + } else if (param == "LowVoltageShutdown") { + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 11.8, 12.5, tr(" volts"), std::map(), 0.01); + + } else if (param == "ScreenManagement") { + FrogPilotParamManageControl *screenToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(screenToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedScreenKeys = screenKeys; + + showToggles(modifiedScreenKeys); + }); + deviceToggle = screenToggle; + } else if (param == "ScreenBrightness" || param == "ScreenBrightnessOnroad") { + std::map brightnessLabels; + int minBrightness = (param == "ScreenBrightnessOnroad") ? 0 : 1; + for (int i = 0; i <= 101; ++i) { + brightnessLabels[i] = i == 101 ? tr("Auto") : i == 0 ? tr("Screen Off") : QString::number(i) + "%"; + } + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, minBrightness, 101, QString(), brightnessLabels); + } else if (param == "ScreenTimeout" || param == "ScreenTimeoutOnroad") { + deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 5, 60, tr(" seconds")); + + } else { + deviceToggle = new ParamControl(param, title, desc, icon); + } + + addItem(deviceToggle); + toggles[param] = deviceToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(deviceToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotDevicePanel::openParentToggle); + } + } + + static_cast(toggles["IncreaseThermalLimits"])->setConfirmation(true, false); + static_cast(toggles["NoLogging"])->setConfirmation(true, false); + static_cast(toggles["NoUploads"])->setConfirmation(true, false); + + std::set brightnessKeys = {"ScreenBrightness", "ScreenBrightnessOnroad"}; + for (const QString &key : brightnessKeys) { + FrogPilotParamValueControl *paramControl = static_cast(toggles[key]); + QObject::connect(paramControl, &FrogPilotParamValueControl::valueChanged, [](int value) { + Hardware::set_brightness(value); + }); + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotDevicePanel::hideToggles); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotDevicePanel::updateState); +} + +void FrogPilotDevicePanel::showEvent(QShowEvent *event) { + frogpilotToggleLevels = parent->frogpilotToggleLevels; + tuningLevel = parent->tuningLevel; + + hideToggles(); +} + +void FrogPilotDevicePanel::updateState(const UIState &s) { + if (!isVisible()) { + return; + } + + started = s.scene.started; +} + +void FrogPilotDevicePanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotDevicePanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = deviceManagementKeys.find(key) != deviceManagementKeys.end() || + screenKeys.find(key) != screenKeys.end(); + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.h b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h new file mode 100644 index 000000000..897c428d5 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h @@ -0,0 +1,34 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotDevicePanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotDevicePanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showEvent(QShowEvent *event) override; + void showToggles(const std::set &keys); + void updateState(const UIState &s); + + bool started; + + int tuningLevel; + + std::map toggles; + + std::set deviceManagementKeys = {"DeviceShutdown", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "OfflineMode"}; + std::set screenKeys = {"ScreenBrightness", "ScreenBrightnessOnroad", "ScreenRecorder", "ScreenTimeout", "ScreenTimeoutOnroad"}; + + FrogPilotSettingsWindow *parent; + + QJsonObject frogpilotToggleLevels; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc new file mode 100644 index 000000000..08bad5068 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc @@ -0,0 +1,291 @@ +#include "selfdrive/frogpilot/navigation/ui/maps_settings.h" +#include "selfdrive/frogpilot/navigation/ui/primeless_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/model_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/utilities.h" +#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" +#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" + +bool checkNNFFLogFileExists(const std::string &carFingerprint) { + static std::vector files; + if (files.empty()) { + for (std::filesystem::directory_entry entry : std::filesystem::directory_iterator("../car/torque_data/lat_models")) { + files.emplace_back(entry.path().filename().stem().string()); + } + } + + for (const std::string &file : files) { + if (file.rfind(carFingerprint, 0) == 0) { + std::cout << "NNFF supports fingerprint: " << file << std::endl; + return true; + } + } + + return false; +} + +void FrogPilotSettingsWindow::createPanelButtons(FrogPilotListWidget *list) { + FrogPilotDevicePanel *frogpilotDevicePanel = new FrogPilotDevicePanel(this); + FrogPilotLateralPanel *frogpilotLateralPanel = new FrogPilotLateralPanel(this); + FrogPilotLongitudinalPanel *frogpilotLongitudinalPanel = new FrogPilotLongitudinalPanel(this); + FrogPilotMapsPanel *frogpilotMapsPanel = new FrogPilotMapsPanel(this); + FrogPilotModelPanel *frogpilotModelPanel = new FrogPilotModelPanel(this); + FrogPilotPrimelessPanel *frogpilotPrimelessPanel = new FrogPilotPrimelessPanel(this); + FrogPilotSoundsPanel *frogpilotSoundsPanel = new FrogPilotSoundsPanel(this); + FrogPilotThemesPanel *frogpilotThemesPanel = new FrogPilotThemesPanel(this); + FrogPilotVehiclesPanel *frogpilotVehiclesPanel = new FrogPilotVehiclesPanel(this); + FrogPilotVisualsPanel *frogpilotVisualsPanel = new FrogPilotVisualsPanel(this); + + QObject::connect(frogpilotDevicePanel, &FrogPilotDevicePanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotLateralPanel, &FrogPilotLateralPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); + QObject::connect(frogpilotMapsPanel, &FrogPilotMapsPanel::openMapSelection, this, &FrogPilotSettingsWindow::openMapSelection); + QObject::connect(frogpilotModelPanel, &FrogPilotModelPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotModelPanel, &FrogPilotModelPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); + QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::closeMapBoxInstructions, this, &FrogPilotSettingsWindow::closeMapBoxInstructions); + QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::openMapBoxInstructions, this, &FrogPilotSettingsWindow::openMapBoxInstructions); + QObject::connect(frogpilotSoundsPanel, &FrogPilotSoundsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotThemesPanel, &FrogPilotThemesPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotVehiclesPanel, &FrogPilotVehiclesPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotVisualsPanel, &FrogPilotVisualsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); + QObject::connect(frogpilotVisualsPanel, &FrogPilotVisualsPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); + + std::vector>> panelButtons = { + {{tr("MANAGE"), frogpilotSoundsPanel}}, + {{tr("DRIVING MODEL"), frogpilotModelPanel}, {tr("GAS / BRAKE"), frogpilotLongitudinalPanel}, {tr("STEERING"), frogpilotLateralPanel}}, + {{tr("MAP DATA"), frogpilotMapsPanel}, {tr("PRIMELESS NAVIGATION"), frogpilotPrimelessPanel}}, + {{tr("DATA"), new FrogPilotDataPanel(this)}, {tr("DEVICE CONTROLS"), frogpilotDevicePanel}, {tr("UTILITIES"), new FrogPilotUtilitiesPanel(this)}}, + {{tr("APPEARANCE"), frogpilotVisualsPanel}, {tr("THEME"), frogpilotThemesPanel}}, + {{tr("MANAGE"), frogpilotVehiclesPanel}} + }; + + std::vector> panelInfo = { + {tr("Alerts and Sounds"), tr("Manage FrogPilot's alerts and sounds."), "../frogpilot/assets/toggle_icons/icon_sound.png"}, + {tr("Driving Controls"), tr("Manage FrogPilot's features that affect acceleration, braking, and steering."), "../frogpilot/assets/toggle_icons/icon_steering.png"}, + {tr("Navigation"), tr("Manage map data to be used with 'Curve Speed Control' and 'Speed Limit Controller' and setup 'Navigate On openpilot (NOO)' without a comma prime subscription."), "../frogpilot/assets/toggle_icons/icon_map.png"}, + {tr("System Management"), tr("Manage the device's internal settings along with other tools and utilities to maintain and troubleshoot FrogPilot."), "../frogpilot/assets/toggle_icons/icon_system.png"}, + {tr("Theme and Appearance"), tr("Manage openpilot's theme and onroad widgets."), "../frogpilot/assets/toggle_icons/icon_display.png"}, + {tr("Vehicle Controls"), tr("Manage vehicle-specific settings."), "../frogpilot/assets/toggle_icons/icon_vehicle.png"} + }; + + for (size_t i = 0; i < panelInfo.size(); ++i) { + const QString &title = std::get<0>(panelInfo[i]); + const QString &description = std::get<1>(panelInfo[i]); + const QString &icon = std::get<2>(panelInfo[i]); + + const std::vector> &widgetLabels = panelButtons[i]; + + std::vector labels; + std::vector widgets; + + for (size_t j = 0; j < widgetLabels.size(); ++j) { + labels.push_back(std::get<0>(widgetLabels[j])); + + QWidget *panel = std::get<1>(widgetLabels[j]); + panel->setContentsMargins(50, 25, 50, 25); + + ScrollView *panelFrame = new ScrollView(panel, this); + mainLayout->addWidget(panelFrame); + widgets.push_back(panelFrame); + } + + FrogPilotButtonsControl *panelButton = new FrogPilotButtonsControl(title, description, labels, false, true, icon); + if (title == tr("Driving Controls")) drivingPanelButtons = panelButton; + if (title == tr("Navigation")) navigationPanelButtons = panelButton; + if (title == tr("System Management")) systemPanelButtons = panelButton; + + QObject::connect(panelButton, &FrogPilotButtonsControl::buttonClicked, [this, widgets](int id) { + mainLayout->setCurrentWidget(widgets[id]); + panelOpen = true; + openPanel(); + }); + + list->addItem(panelButton); + } +} + +FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFrame(parent) { + mainLayout = new QStackedLayout(this); + + QWidget *frogpilotWidget = new QWidget(this); + QVBoxLayout *frogpilotLayout = new QVBoxLayout(frogpilotWidget); + frogpilotLayout->setContentsMargins(50, 25, 50, 25); + frogpilotWidget->setLayout(frogpilotLayout); + + frogpilotPanel = new ScrollView(frogpilotWidget, this); + mainLayout->addWidget(frogpilotPanel); + frogpilotPanel->setWidget(frogpilotWidget); + + FrogPilotListWidget *list = new FrogPilotListWidget(this); + frogpilotLayout->addWidget(list); + + std::vector togglePresets{tr("Minimal"), tr("Standard"), tr("Advanced"), tr("Developer")}; + ButtonParamControl *togglePreset = new ButtonParamControl("TuningLevel", tr("Tuning Level"), + tr("Select a tuning level that suits your preferences:\n\n" + "Minimal - Ideal for those who prefer simplicity or ease of use\n" + "Standard - Recommended for most users for a balanced experience\n" + "Advanced - Unlocks fine-tuning controls for more experienced users\n" + "Developer - Unlocks highly customizable settings for seasoned enthusiasts"), + "../frogpilot/assets/toggle_icons/icon_customization.png", + togglePresets); + + int timeTo100FPHours = 100 - (paramsTracking.getInt("FrogPilotMinutes") / 60); + int timeTo250OPHours = 250 - (params.getInt("openpilotMinutes") / 60); + togglePreset->setEnabledButtons(3, timeTo100FPHours <= 0 || timeTo250OPHours <= 0); + + QObject::connect(togglePreset, &ButtonParamControl::buttonClicked, [this](int id) { + tuningLevel = id; + if (id == 3) { + FrogPilotConfirmationDialog::toggleAlert( + tr("WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience!"), + tr("I understand the risks."), this + ); + } + updateVariables(); + }); + QObject::connect(togglePreset, &ButtonParamControl::disabledButtonClicked, [this](int id) { + if (id == 3) { + FrogPilotConfirmationDialog::toggleAlert( + tr("The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot."), + tr("Ok"), this + ); + } + }); + list->addItem(togglePreset); + + createPanelButtons(list); + + QObject::connect(parent, &SettingsWindow::closeMapBoxInstructions, this, &FrogPilotSettingsWindow::closeMapBoxInstructions); + QObject::connect(parent, &SettingsWindow::closeMapSelection, this, &FrogPilotSettingsWindow::closeMapSelection); + QObject::connect(parent, &SettingsWindow::closePanel, this, &FrogPilotSettingsWindow::closePanel); + QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotSettingsWindow::closeParentToggle); + QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotSettingsWindow::closeSubParentToggle); + QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotSettingsWindow::updateMetric); + QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotSettingsWindow::updateVariables); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotSettingsWindow::updateState); + + frogpilotToggleLevels = QJsonDocument::fromJson(params_memory.get("FrogPilotTuningLevels", true).c_str()).object(); + tuningLevel = params.getInt("TuningLevel"); + + closeParentToggle(); + updateMetric(params.getBool("IsMetric"), true); + updateVariables(); +} + +void FrogPilotSettingsWindow::hideEvent(QHideEvent *event) { + closePanel(); +} + +void FrogPilotSettingsWindow::closePanel() { + mainLayout->setCurrentWidget(frogpilotPanel); + panelOpen = false; + updateFrogPilotToggles(); +} + +void FrogPilotSettingsWindow::updateState() { + UIState *s = uiState(); + UIScene &scene = s->scene; + + scene.frogpilot_panel_active = panelOpen && keepScreenOn; +} + +void FrogPilotSettingsWindow::updateVariables() { + std::string carParams = params.get("CarParamsPersistent"); + if (!carParams.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + cereal::CarParams::SafetyModel safetyModel = CP.getSafetyConfigs()[0].getSafetyModel(); + + std::string carFingerprint = CP.getCarFingerprint(); + std::string carMake = CP.getCarName(); + + hasAutoTune = (carMake == "hyundai" || carMake == "toyota") && CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE; + hasBSM = CP.getEnableBsm(); + hasDashSpeedLimits = carMake == "hyundai" || carMake == "toyota"; + hasExperimentalOpenpilotLongitudinal = CP.getExperimentalLongitudinalAvailable(); + hasNNFFLog = checkNNFFLogFileExists(carFingerprint); + hasOpenpilotLongitudinal = hasLongitudinalControl(CP); + hasPCMCruise = CP.getPcmCruise(); + hasRadar = !CP.getRadarUnavailable(); + hasSNG = CP.getMinEnableSpeed() <= 0; + isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV"; + isGM = carMake == "gm"; + isHKG = carMake == "hyundai"; + isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD; + isPIDCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID; + isSubaru = carMake == "subaru"; + isToyota = carMake == "toyota"; + isVolt = carFingerprint == "CHEVROLET_VOLT"; + frictionStock = CP.getLateralTuning().getTorque().getFriction(); + kpStock = CP.getLateralTuning().getTorque().getKp(); + latAccelStock = CP.getLateralTuning().getTorque().getLatAccelFactor(); + steerRatioStock = CP.getSteerRatio(); + + float currentFrictionStock = params.getFloat("SteerFrictionStock"); + float currentKPStock = params.getFloat("SteerKPStock"); + float currentLatAccelStock = params.getFloat("SteerLatAccelStock"); + float currentSteerRatioStock = params.getFloat("SteerRatioStock"); + + if (currentFrictionStock != frictionStock && frictionStock != 0) { + if (params.getFloat("SteerFriction") == currentFrictionStock || currentFrictionStock == 0) { + params.putFloat("SteerFriction", frictionStock); + } + params.putFloat("SteerFrictionStock", frictionStock); + } + + if (currentKPStock != kpStock && kpStock != 0) { + if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) { + params.putFloat("SteerKP", kpStock); + } + params.putFloat("SteerKPStock", kpStock); + } + + if (currentLatAccelStock != latAccelStock && latAccelStock != 0) { + if (params.getFloat("SteerLatAccel") == currentLatAccelStock || currentLatAccelStock == 0) { + params.putFloat("SteerLatAccel", latAccelStock); + } + params.putFloat("SteerLatAccelStock", latAccelStock); + } + + if (currentSteerRatioStock != steerRatioStock && steerRatioStock != 0) { + if (params.getFloat("SteerRatio") == currentSteerRatioStock || currentSteerRatioStock == 0) { + params.putFloat("SteerRatio", steerRatioStock); + } + params.putFloat("SteerRatioStock", steerRatioStock); + } + + if (params.checkKey("LiveTorqueParameters")) { + std::string torqueParams = params.get("LiveTorqueParameters"); + if (!torqueParams.empty()) { + capnp::FlatArrayMessageReader cmsgtp(aligned_buf.align(torqueParams.data(), torqueParams.size())); + cereal::Event::Reader LTP = cmsgtp.getRoot(); + + cereal::LiveTorqueParametersData::Reader liveTorqueParams = LTP.getLiveTorqueParameters(); + + liveValid = liveTorqueParams.getLiveValid(); + } else { + liveValid = false; + } + } else { + liveValid = false; + } + } + + drivingPanelButtons->setVisible(hasOpenpilotLongitudinal || tuningLevel >= frogpilotToggleLevels.value("Model").toDouble()); + drivingPanelButtons->setVisibleButton(0, tuningLevel >= frogpilotToggleLevels.value("Model").toDouble()); + drivingPanelButtons->setVisibleButton(1, hasOpenpilotLongitudinal); + + navigationPanelButtons->setVisibleButton(1, !uiState()->hasPrime()); + + systemPanelButtons->setVisibleButton(1, tuningLevel >= frogpilotToggleLevels.value("DeviceManagement").toDouble() || tuningLevel >= frogpilotToggleLevels.value("ScreenManagement").toDouble()); + + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h new file mode 100644 index 000000000..06f5fa734 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h @@ -0,0 +1,74 @@ +#pragma once + +#include "selfdrive/ui/qt/offroad/settings.h" +#include "selfdrive/ui/qt/widgets/scrollview.h" + +class FrogPilotSettingsWindow : public QFrame { + Q_OBJECT + +public: + explicit FrogPilotSettingsWindow(SettingsWindow *parent); + + void updateVariables(); + + bool hasAutoTune = true; + bool hasBSM = true; + bool hasDashSpeedLimits = true; + bool hasExperimentalOpenpilotLongitudinal = false; + bool hasNNFFLog = true; + bool hasOpenpilotLongitudinal = true; + bool hasPCMCruise = false; + bool hasRadar = true; + bool hasSNG = false; + bool isBolt = false; + bool isGM = true; + bool isHKG = true; + bool isHKGCanFd = true; + bool isPIDCar = false; + bool isSubaru = false; + bool isToyota = true; + bool isVolt = true; + bool keepScreenOn = false; + bool liveValid = false; + + float frictionStock; + float kpStock; + float latAccelStock; + float steerRatioStock; + + int tuningLevel; + + QJsonObject frogpilotToggleLevels; + +signals: + void closeMapBoxInstructions(); + void closeMapSelection(); + void closeParentToggle(); + void closeSubParentToggle(); + void openMapBoxInstructions(); + void openMapSelection(); + void openPanel(); + void openParentToggle(); + void openSubParentToggle(); + void updateMetric(bool metric, bool bootRun=false); + +private: + void closePanel(); + void createPanelButtons(FrogPilotListWidget *list); + void hideEvent(QHideEvent *event) override; + void updateState(); + + bool panelOpen; + + FrogPilotButtonsControl *drivingPanelButtons; + FrogPilotButtonsControl *navigationPanelButtons; + FrogPilotButtonsControl *systemPanelButtons; + + Params params; + Params params_memory{"/dev/shm/params"}; + Params paramsTracking{"/persist/tracking"}; + + QStackedLayout *mainLayout; + + ScrollView *frogpilotPanel; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc new file mode 100644 index 000000000..08c2b5993 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc @@ -0,0 +1,370 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h" + +FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> lateralToggles { + {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("Advanced settings for fine tuning openpilot's lateral controls."), "../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"}, + {"SteerFriction", frictionStock != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(frictionStock, 'f', 2)) : tr("Friction"), tr("Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive."), ""}, + {"SteerKP", kpStock != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(kpStock, 'f', 2)) : tr("Kp Factor"), tr("Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond."), ""}, + {"SteerLatAccel", latAccelStock != 0 ? QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(latAccelStock, 'f', 2)) : tr("Lateral Accel"), tr("Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish."), ""}, + {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds."), ""}, + {"ForceAutoTune", tr("Force Auto Tune On"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""}, + {"ForceAutoTuneOff", tr("Force Auto Tune Off"), tr("Forces comma's auto lateral tuning off for supported vehicles."), ""}, + + {"AlwaysOnLateral", tr("Always on Lateral"), tr("openpilot's steering control stays active even when the brake or gas pedals are pressed.\n\nDeactivate only occurs with the 'Cruise Control' button."), "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"}, + {"AlwaysOnLateralLKAS", tr("Control with LKAS Button"), tr("Controls the current state of 'Always on Lateral' with the 'LKAS' button."), ""}, + {"AlwaysOnLateralMain", tr("Enable with Cruise Control"), tr("Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first."), ""}, + {"PauseAOLOnBrake", tr("Pause on Brake Below"), tr("Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed."), ""}, + + {"LaneChangeCustomizations", tr("Lane Change Settings"), tr("How openpilot handles lane changes."), "../frogpilot/assets/toggle_icons/icon_lane.png"}, + {"NudgelessLaneChange", tr("Automatic Lane Changes"), tr("Conducts lane changes without needing to touch the steering wheel upon turn signal activation."), ""}, + {"LaneChangeTime", tr("Lane Change Delay"), tr("Delays lane changes by the set time to prevent sudden changes."), ""}, + {"LaneDetectionWidth", tr("Lane Width Requirement"), tr("Sets the minimum lane width for openpilot to detect a lane as a lane."), ""}, + {"MinimumLaneChangeSpeed", tr("Minimum Speed for Lane Change"), tr("Sets the minimum speed required for openpilot to perform a lane change."), ""}, + {"OneLaneChange", tr("Only One Lane Change Per Signal"), tr("Limits lane changes to one per turn signal activation."), ""}, + + {"LateralTune", tr("Lateral Tuning"), tr("Settings for fine tuning openpilot's lateral controls."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"}, + {"TurnDesires", tr("Force Turn Desires Below Lane Change Speed"), tr("Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely."), ""}, + {"NNFF", tr("Neural Network Feedforward (NNFF)"), tr("Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control."), ""}, + {"NNFFLite", tr("Smooth Curve Handling"), tr("Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments."), ""}, + + {"QOLLateral", tr("Quality of Life Improvements"), tr("Miscellaneous lateral focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, + {"PauseLateralSpeed", tr("Pause Steering Below"), tr("Pauses steering control when driving below the set speed."), ""} + }; + + for (const auto &[param, title, desc, icon] : lateralToggles) { + AbstractControl *lateralToggle; + + if (param == "AdvancedLateralTune") { + FrogPilotParamManageControl *advancedLateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(advancedLateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys; + + bool forcingAutoTune = params.getBool("ForceAutoTune"); + bool forcingAutoTuneOff = params.getBool("ForceAutoTuneOff"); + if (!hasAutoTune && forcingAutoTune || hasAutoTune && !forcingAutoTuneOff) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerKP"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); + } + + if (hasAutoTune) { + modifiedAdvancedLateralTuneKeys.erase("ForceAutoTune"); + } else if (isPIDCar) { + modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff"); + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerKP"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + } else { + modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff"); + } + + bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF"); + if (!liveValid || usingNNFF) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + } + + if (params.getFloat("SteerFrictionStock") == 0) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + } + if (params.getFloat("SteerKPStock") == 0) { + modifiedAdvancedLateralTuneKeys.erase("SteerKP"); + } + if (params.getFloat("SteerLatAccelStock") == 0) { + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + } + if (params.getFloat("SteerRatioStock") == 0) { + modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); + } + + showToggles(modifiedAdvancedLateralTuneKeys); + }); + lateralToggle = advancedLateralTuneToggle; + } else if (param == "SteerFriction") { + std::vector steerFrictionButton{"Reset"}; + lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.01, 0.25, QString(), std::map(), 0.01, {}, steerFrictionButton, false, false); + } else if (param == "SteerKP") { + std::vector steerKPButton{"Reset"}; + lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, kpStock * 0.50, kpStock * 1.50, QString(), std::map(), 0.01, {}, steerKPButton, false, false); + } else if (param == "SteerLatAccel") { + std::vector steerLatAccelButton{"Reset"}; + lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, latAccelStock * 0.25, latAccelStock * 1.25, QString(), std::map(), 0.01, {}, steerLatAccelButton, false, false); + } else if (param == "SteerRatio") { + std::vector steerRatioButton{"Reset"}; + lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, QString(), std::map(), 0.01, {}, steerRatioButton, false, false); + + } else if (param == "AlwaysOnLateral") { + FrogPilotParamManageControl *aolToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(aolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedAOLKeys = aolKeys; + + if (isSubaru || (params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaLKAS"))) { + modifiedAOLKeys.erase("AlwaysOnLateralLKAS"); + } + + showToggles(modifiedAOLKeys); + }); + lateralToggle = aolToggle; + } else if (param == "PauseAOLOnBrake") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else if (param == "LaneChangeCustomizations") { + FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(laneChangeKeys); + }); + lateralToggle = laneChangeToggle; + } else if (param == "LaneChangeTime") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 5, tr(" seconds"), {{0, "Instant"}, {10, "1.0 second"}}, 0.1); + } else if (param == "LaneDetectionWidth") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet"), std::map(), 0.1); + } else if (param == "MinimumLaneChangeSpeed") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else if (param == "LateralTune") { + FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedLateralTuneKeys = lateralTuneKeys; + + bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF"); + if (!hasNNFFLog) { + modifiedLateralTuneKeys.erase("NNFF"); + } else if (usingNNFF) { + modifiedLateralTuneKeys.erase("NNFFLite"); + } + + showToggles(modifiedLateralTuneKeys); + }); + lateralToggle = lateralTuneToggle; + + } else if (param == "QOLLateral") { + FrogPilotParamManageControl *qolLateralToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(qolLateralToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(qolKeys); + }); + lateralToggle = qolLateralToggle; + } else if (param == "PauseLateralSpeed") { + std::vector pauseLateralToggles{"PauseLateralOnSignal"}; + std::vector pauseLateralToggleNames{"Turn Signal Only"}; + lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1, pauseLateralToggles, pauseLateralToggleNames, true); + } else if (param == "PauseLateralOnSignal") { + lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else { + lateralToggle = new ParamControl(param, title, desc, icon); + } + + addItem(lateralToggle); + toggles[param] = lateralToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(lateralToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotLateralPanel::openParentToggle); + } + } + + QObject::connect(static_cast(toggles["AlwaysOnLateralLKAS"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state && params.getBool("ExperimentalModeViaLKAS")) { + params.putBool("ExperimentalModeViaLKAS", false); + } + }); + + QObject::connect(static_cast(toggles["ForceAutoTune"]), &ToggleControl::toggleFlipped, [this](bool state) { + std::set modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys; + + modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff"); + + if (state) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerKP"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); + } else if (isPIDCar) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerKP"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + } else if (!liveValid || hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF")) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + } + + showToggles(modifiedAdvancedLateralTuneKeys); + }); + + QObject::connect(static_cast(toggles["ForceAutoTuneOff"]), &ToggleControl::toggleFlipped, [this](bool state) { + std::set modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys; + + modifiedAdvancedLateralTuneKeys.erase("ForceAutoTune"); + + if (!state) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerKP"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); + } else if (!liveValid || hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF")) { + modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); + modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); + } + + showToggles(modifiedAdvancedLateralTuneKeys); + }); + + QObject::connect(static_cast(toggles["NNFF"]), &ToggleControl::toggleFlipped, [this](bool state) { + std::set modifiedLateralTuneKeys = lateralTuneKeys; + + bool usingNNFF = hasNNFFLog && state; + if (!hasNNFFLog) { + modifiedLateralTuneKeys.erase("NNFF"); + } else if (usingNNFF) { + modifiedLateralTuneKeys.erase("NNFFLite"); + } + + showToggles(modifiedLateralTuneKeys); + }); + + std::set rebootKeys = {"AlwaysOnLateral", "NNFF", "NNFFLite"}; + for (const QString &key : rebootKeys) { + QObject::connect(static_cast(toggles[key]), &ToggleControl::toggleFlipped, [this, key](bool state) { + if (started) { + if (key == "AlwaysOnLateral" && state) { + if (FrogPilotConfirmationDialog::toggleReboot(this)) { + Hardware::reboot(); + } + } else if (key != "AlwaysOnLateral") { + if (FrogPilotConfirmationDialog::toggleReboot(this)) { + Hardware::reboot(); + } + } + } + }); + } + + steerFrictionToggle = static_cast(toggles["SteerFriction"]); + QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerFriction", frictionStock); + steerFrictionToggle->refresh(); + }); + + steerKPToggle = static_cast(toggles["SteerKP"]); + QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerKP", kpStock); + steerKPToggle->refresh(); + }); + + steerLatAccelToggle = static_cast(toggles["SteerLatAccel"]); + QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerLatAccel", latAccelStock); + steerLatAccelToggle->refresh(); + }); + + steerRatioToggle = static_cast(toggles["SteerRatio"]); + QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { + params.putFloat("SteerRatio", steerRatioStock); + steerRatioToggle->refresh(); + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLateralPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLateralPanel::updateMetric); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotLateralPanel::updateState); +} + +void FrogPilotLateralPanel::showEvent(QShowEvent *event) { + frogpilotToggleLevels = parent->frogpilotToggleLevels; + hasAutoTune = parent->hasAutoTune; + hasNNFFLog = parent->hasNNFFLog; + isPIDCar = parent->isPIDCar; + isSubaru = parent->isSubaru; + liveValid = parent->liveValid; + frictionStock = parent->frictionStock; + kpStock = parent->kpStock; + latAccelStock = parent->latAccelStock; + steerRatioStock = parent->steerRatioStock; + tuningLevel = parent->tuningLevel; + + steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(frictionStock, 'f', 2))); + steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(kpStock, 'f', 2))); + steerKPToggle->updateControl(kpStock * 0.50, kpStock * 1.50); + steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(latAccelStock, 'f', 2))); + steerLatAccelToggle->updateControl(latAccelStock * 0.75, latAccelStock * 1.25); + steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2))); + steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25); + + hideToggles(); +} + +void FrogPilotLateralPanel::updateState(const UIState &s) { + if (!isVisible()) return; + + started = s.scene.started; +} + +void FrogPilotLateralPanel::updateMetric(bool metric, bool bootRun) { + static bool previousMetric; + if (metric != previousMetric && !bootRun) { + double distanceConversion = metric ? FOOT_TO_METER : METER_TO_FOOT; + double speedConversion = metric ? MILE_TO_KM : KM_TO_MILE; + + params.putFloatNonBlocking("LaneDetectionWidth", params.getFloat("LaneDetectionWidth") * distanceConversion); + + params.putFloatNonBlocking("MinimumLaneChangeSpeed", params.getFloat("MinimumLaneChangeSpeed") * speedConversion); + params.putFloatNonBlocking("PauseAOLOnBrake", params.getFloat("PauseAOLOnBrake") * speedConversion); + params.putFloatNonBlocking("PauseLateralOnSignal", params.getFloat("PauseLateralOnSignal") * speedConversion); + params.putFloatNonBlocking("PauseLateralSpeed", params.getFloat("PauseLateralSpeed") * speedConversion); + } + previousMetric = metric; + + FrogPilotParamValueControl *laneWidthToggle = static_cast(toggles["LaneDetectionWidth"]); + FrogPilotParamValueControl *minimumLaneChangeSpeedToggle = static_cast(toggles["MinimumLaneChangeSpeed"]); + FrogPilotParamValueControl *pauseAOLOnBrakeToggle = static_cast(toggles["PauseAOLOnBrake"]); + FrogPilotParamValueControl *pauseLateralToggle = static_cast(toggles["PauseLateralSpeed"]); + + if (metric) { + minimumLaneChangeSpeedToggle->updateControl(0, 150, tr("kph")); + pauseAOLOnBrakeToggle->updateControl(0, 99, tr("kph")); + pauseLateralToggle->updateControl(0, 99, tr("kph")); + + laneWidthToggle->updateControl(0, 5, tr(" meters")); + } else { + minimumLaneChangeSpeedToggle->updateControl(0, 99, tr("mph")); + pauseAOLOnBrakeToggle->updateControl(0, 99, tr("mph")); + pauseLateralToggle->updateControl(0, 99, tr("mph")); + + laneWidthToggle->updateControl(0, 15, tr(" feet")); + } +} + +void FrogPilotLateralPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotLateralPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = advancedLateralTuneKeys.find(key) != advancedLateralTuneKeys.end() || + aolKeys.find(key) != aolKeys.end() || + laneChangeKeys.find(key) != laneChangeKeys.end() || + lateralTuneKeys.find(key) != lateralTuneKeys.end() || + qolKeys.find(key) != qolKeys.end(); + + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + std::set toggleKeys = {"AlwaysOnLateral"}; + for (const QString &key : toggleKeys) { + FrogPilotParamManageControl *control = static_cast(toggles[key]); + control->setVisibleButton(tuningLevel > frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h new file mode 100644 index 000000000..2f14b4729 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h @@ -0,0 +1,55 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotLateralPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotLateralPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showEvent(QShowEvent *event) override; + void showToggles(const std::set &keys); + void updateMetric(bool metric, bool bootRun); + void updateState(const UIState &s); + + bool hasAutoTune; + bool hasNNFFLog; + bool isPIDCar; + bool isSubaru; + bool liveValid; + bool started; + + float frictionStock; + float latAccelStock; + float kpStock; + float steerRatioStock; + + int tuningLevel; + + std::map toggles; + + std::set advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"}; + std::set aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "PauseAOLOnBrake"}; + std::set laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"}; + std::set lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"}; + std::set qolKeys = {"PauseLateralSpeed"}; + + FrogPilotParamValueButtonControl *steerFrictionToggle; + FrogPilotParamValueButtonControl *steerLatAccelToggle; + FrogPilotParamValueButtonControl *steerKPToggle; + FrogPilotParamValueButtonControl *steerRatioToggle; + + FrogPilotSettingsWindow *parent; + + QJsonObject frogpilotToggleLevels; + + Params params; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc new file mode 100644 index 000000000..d1653138d --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc @@ -0,0 +1,676 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h" + +FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> longitudinalToggles { + {"ConditionalExperimental", tr("Conditional Experimental Mode"), tr("Automatically switch to 'Experimental Mode' when specific conditions are met."), "../frogpilot/assets/toggle_icons/icon_conditional.png"}, + {"CESpeed", tr("Below"), tr("Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle."), ""}, + {"CECurves", tr("Curve Detected Ahead"), tr("Triggers 'Experimental Mode' when a curve is detected in the road ahead."), ""}, + {"CELead", tr("Lead Detected Ahead"), tr("Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead."), ""}, + {"CENavigation", tr("Navigation Data"), tr("Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns."), ""}, + {"CEModelStopTime", tr("openpilot Wants to Stop In"), tr("Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light."), ""}, + {"CESignalSpeed", tr("Turn Signal Below"), tr("Triggers 'Experimental Mode' when using turn signals below the set speed."), ""}, + + {"CurveSpeedControl", tr("Curve Speed Control"), tr("Automatically slow down for curves detected ahead or through the downloaded maps."), "../frogpilot/assets/toggle_icons/icon_speed_map.png"}, + {"CurveDetectionMethod", tr("Curve Detection Method"), tr("Uses data from either the downloaded maps or the model to determine where curves are."), ""}, + {"MTSCCurvatureCheck", tr("Curve Detection Failsafe"), tr("Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method."), ""}, + {"CurveSensitivity", tr("Curve Detection Sensitivity"), tr("Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently."), ""}, + {"TurnAggressiveness", tr("Speed Aggressiveness"), tr("Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns."), ""}, + {"HideCSCUI", tr("Hide Desired Speed Widget From UI"), tr("Hides the desired speed widget from the onroad UI."), ""}, + + {"CustomPersonalities", tr("Customize Driving Personalities"), tr("Customize the personality profiles to suit your driving style."), "../frogpilot/assets/toggle_icons/icon_personality.png"}, + {"TrafficPersonalityProfile", tr("Traffic Personality"), tr("Customizes the 'Traffic' personality profile, tailored for navigating through traffic."), "../frogpilot/assets/stock_theme/distance_icons/traffic.png"}, + {"TrafficFollow", tr("Following Distance"), tr("Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed."), ""}, + {"TrafficJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, + {"TrafficJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, + {"TrafficJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time."), ""}, + {"TrafficJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, + {"TrafficJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, + {"ResetTrafficPersonality", tr("Reset Settings"), tr("Restores the 'Traffic Mode' settings to their default values."), ""}, + + {"AggressivePersonalityProfile", tr("Aggressive Personality"), tr("Customize the 'Aggressive' personality profile, designed for a more assertive driving style."), "../frogpilot/assets/stock_theme/distance_icons/aggressive.png"}, + {"AggressiveFollow", tr("Following Distance"), tr("Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.25 seconds."), ""}, + {"AggressiveJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, + {"AggressiveJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, + {"AggressiveJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""}, + {"AggressiveJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, + {"AggressiveJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, + {"ResetAggressivePersonality", tr("Reset Settings"), tr("Restores the 'Aggressive' settings to their default values."), ""}, + + {"StandardPersonalityProfile", tr("Standard Personality"), tr("Customize the 'Standard' personality profile, optimized for balanced driving."), "../frogpilot/assets/stock_theme/distance_icons/standard.png"}, + {"StandardFollow", tr("Following Distance"), tr("Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.45 seconds."), ""}, + {"StandardJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"StandardJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"StandardJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""}, + {"StandardJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"StandardJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"ResetStandardPersonality", tr("Reset Settings"), tr("Restores the 'Standard' settings to their default values."), ""}, + + {"RelaxedPersonalityProfile", tr("Relaxed Personality"), tr("Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style."), "../frogpilot/assets/stock_theme/distance_icons/relaxed.png"}, + {"RelaxedFollow", tr("Following Distance"), tr("Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.75 seconds."), ""}, + {"RelaxedJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"RelaxedJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, + {"ResetRelaxedPersonality", tr("Reset Settings"), tr("Restores the 'Relaxed' settings to their default values."), ""}, + + {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen.\n\nThis overrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"}, + {"ExperimentalModeViaLKAS", tr("Click the LKAS Button"), tr("Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel."), ""}, + {"ExperimentalModeViaTap", tr("Double-Tap the Screen"), tr("Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period."), ""}, + {"ExperimentalModeViaDistance", tr("Long Press the Distance Button"), tr("Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds."), ""}, + + {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Settings that control how openpilot manages speed and acceleration."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"}, + {"AccelerationProfile", tr("Acceleration Profile"), tr("Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible."), ""}, + {"DecelerationProfile", tr("Deceleration Profile"), tr("Enables either a sporty or eco-friendly deceleration rate."), ""}, + {"HumanAcceleration", tr("Human-Like Acceleration"), tr("Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience."), ""}, + {"HumanFollowing", tr("Human-Like Approach Behind Leads"), tr("Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience."), ""}, + {"LeadDetectionThreshold", tr("Lead Detection Confidence"), tr("Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles."), ""}, + {"MaxDesiredAcceleration", tr("Maximum Acceleration Rate"), tr("Sets a cap on how fast openpilot can accelerate."), ""}, + {"TacoTune", tr("'Taco Bell Run' Turn Speed Hack"), tr("Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning."), ""}, + + {"QOLLongitudinal", tr("Quality of Life Improvements"), tr("Miscellaneous longitudinal focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, + {"CustomCruise", tr("Cruise Increase"), tr("Controls the interval used when increasing the cruise control speed."), ""}, + {"CustomCruiseLong", tr("Cruise Increase (Long Press)"), tr("Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds."), ""}, + {"ForceStandstill", tr("Force Keep openpilot in the Standstill State"), tr("Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed."), ""}, + {"ForceStops", tr("Force Stop for 'Detected' Stop Lights/Signs"), tr("Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign."), ""}, + {"IncreasedStoppedDistance", tr("Increase Stopped Distance"), tr("Increases the distance to stop behind vehicles."), ""}, + {"SetSpeedOffset", tr("Set Speed Offset"), tr("Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed."), ""}, + {"MapGears", tr("Map Accel/Decel to Gears"), tr("Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes."), ""}, + {"ReverseCruise", tr("Reverse Cruise Increase"), tr("Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses."), ""}, + + {"SpeedLimitController", tr("Speed Limit Controller"), tr("Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only)."), "../assets/offroad/icon_speed_limit.png"}, + {"SLCFallback", tr("Fallback Method"), tr("Controls what happens when no speed limit data is available."), ""}, + {"SLCOverride", tr("Override Method"), tr("Controls how the current speed limit is overriden.\n\n"), ""}, + {"SLCQOL", tr("Quality of Life Improvements"), tr("Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience."), ""}, + {"SLCConfirmation", tr("Confirm New Speed Limits"), tr("Enables manual confirmations before using a new speed limit."), ""}, + {"ForceMPHDashboard", tr("Force MPH Readings from Dashboard"), tr("Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH."), ""}, + {"SLCLookaheadHigher", tr("Prepare for Higher Speed Limits"), tr("Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data."), ""}, + {"SLCLookaheadLower", tr("Prepare for Lower Speed Limits"), tr("Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data."), ""}, + {"SetSpeedLimit", tr("Set Speed to Current Limit"), tr("Sets your max speed to match the current speed limit when enabling openpilot."), ""}, + {"SLCPriority", tr("Speed Limit Source Priority Order"), tr("Sets the order of priority for speed limit data sources."), ""}, + {"SLCOffsets", tr("Speed Limit Offsets"), tr("Set speed limit offsets to drive over the posted speed limit."), ""}, + {"Offset1", tr("Speed Limit Offset (0-34 mph)"), tr("Sets the speed limit offset for speeds between 0 and 34 mph."), ""}, + {"Offset2", tr("Speed Limit Offset (35-54 mph)"), tr("Sets the speed limit offset for speeds between 35 and 54 mph."), ""}, + {"Offset3", tr("Speed Limit Offset (55-64 mph)"), tr("Sets the speed limit offset for speeds between 55 and 64 mph."), ""}, + {"Offset4", tr("Speed Limit Offset (65-99 mph)"), tr("Sets the speed limit offset for speeds between 65 and 99 mph."), ""}, + {"SLCVisuals", tr("Visuals"), tr("Visual 'Speed Limit Controller' features to improve your overall openpilot experience."), ""}, + {"ShowSLCOffset", tr("Show Speed Limit Offset"), tr("Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'."), ""}, + {"SpeedLimitSources", tr("Show Speed Limit Sources"), tr("Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'."), ""}, + }; + + for (const auto &[param, title, desc, icon] : longitudinalToggles) { + AbstractControl *longitudinalToggle; + + if (param == "CustomPersonalities") { + FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(customDrivingPersonalityKeys); + }); + longitudinalToggle = customPersonalitiesToggle; + } else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") { + FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, {tr("Reset")}); + longitudinalToggle = profileBtn; + } else if (param == "TrafficPersonalityProfile") { + FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(trafficPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(trafficPersonalityKeys); + }); + longitudinalToggle = trafficPersonalityToggle; + } else if (param == "AggressivePersonalityProfile") { + FrogPilotParamManageControl *aggressivePersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(aggressivePersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(aggressivePersonalityKeys); + }); + longitudinalToggle = aggressivePersonalityToggle; + } else if (param == "StandardPersonalityProfile") { + FrogPilotParamManageControl *standardPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(standardPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(standardPersonalityKeys); + }); + longitudinalToggle = standardPersonalityToggle; + } else if (param == "RelaxedPersonalityProfile") { + FrogPilotParamManageControl *relaxedPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(relaxedPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + customPersonalityOpen = true; + openSubParentToggle(); + showToggles(relaxedPersonalityKeys); + }); + longitudinalToggle = relaxedPersonalityToggle; + } else if (trafficPersonalityKeys.find(param) != trafficPersonalityKeys.end() || + aggressivePersonalityKeys.find(param) != aggressivePersonalityKeys.end() || + standardPersonalityKeys.find(param) != standardPersonalityKeys.end() || + relaxedPersonalityKeys.find(param) != relaxedPersonalityKeys.end()) { + if (param == "TrafficFollow" || param == "AggressiveFollow" || param == "StandardFollow" || param == "RelaxedFollow") { + if (param == "TrafficFollow") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.5, 5, tr(" seconds"), std::map(), 0.01); + } else { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 5, tr(" seconds"), std::map(), 0.01); + } + } else { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 500, "%"); + } + + } else if (param == "ConditionalExperimental") { + FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(conditionalExperimentalKeys); + }); + longitudinalToggle = conditionalExperimentalToggle; + } else if (param == "CESpeed") { + FrogPilotParamValueControl *CESpeed = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1.0, true); + FrogPilotParamValueControl *CESpeedLead = new FrogPilotParamValueControl("CESpeedLead", tr(" With Lead"), tr("Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle."), icon, 0, 99, tr("mph"), std::map(), 1.0, true); + FrogPilotDualParamControl *conditionalSpeeds = new FrogPilotDualParamControl(CESpeed, CESpeedLead); + longitudinalToggle = reinterpret_cast(conditionalSpeeds); + } else if (param == "CECurves") { + std::vector curveToggles{"CECurvesLead"}; + std::vector curveToggleNames{tr("With Lead")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, curveToggles, curveToggleNames); + } else if (param == "CELead") { + std::vector leadToggles{"CESlowerLead", "CEStoppedLead"}; + std::vector leadToggleNames{tr("Slower Lead"), tr("Stopped Lead")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, leadToggles, leadToggleNames); + } else if (param == "CENavigation") { + std::vector navigationToggles{"CENavigationIntersections", "CENavigationTurns", "CENavigationLead"}; + std::vector navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, navigationToggles, navigationToggleNames); + } else if (param == "CEModelStopTime") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" seconds"), {{0, "Off"}}); + } else if (param == "CESignalSpeed") { + std::vector ceSignalToggles{"CESignalLaneDetection"}; + std::vector ceSignalToggleNames{"Only For Detected Lanes"}; + longitudinalToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1.0, ceSignalToggles, ceSignalToggleNames, true); + + } else if (param == "CurveSpeedControl") { + FrogPilotParamManageControl *curveControlToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(curveControlToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + curveDetectionToggle->setEnabledButtons(0, QDir("/data/media/0/osm/offline").exists()); + + std::set modifiedCurveSpeedKeys = curveSpeedKeys; + + if (!params.getBool("MapTurnControl")) { + modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck"); + } + + showToggles(modifiedCurveSpeedKeys); + }); + longitudinalToggle = curveControlToggle; + } else if (param == "CurveDetectionMethod") { + std::vector curveDetectionToggles{"MapTurnControl", "VisionTurnControl"}; + std::vector curveDetectionToggleNames{tr("Map Based"), tr("Vision")}; + curveDetectionToggle = new FrogPilotButtonToggleControl(param, title, desc, curveDetectionToggles, curveDetectionToggleNames, false, true); + QObject::connect(curveDetectionToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) { + std::set modifiedCurveSpeedKeys = curveSpeedKeys; + + if (!params.getBool("MapTurnControl")) { + modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck"); + } + + if (!(params.getBool("MapTurnControl") || params.getBool("VisionTurnControl"))) { + modifiedCurveSpeedKeys.erase("CurveSensitivity"); + modifiedCurveSpeedKeys.erase("TurnAggressiveness"); + } + + showToggles(modifiedCurveSpeedKeys); + + curveDetectionToggle->refresh(); + }); + QObject::connect(curveDetectionToggle, &FrogPilotButtonToggleControl::disabledButtonClicked, [=](int id) { + if (id == 0) { + FrogPilotConfirmationDialog::toggleAlert( + tr("The 'Map Based' option is only available when some 'Map Data' has been downloaded!"), + tr("Ok"), this + ); + } + }); + longitudinalToggle = curveDetectionToggle; + } else if (param == "CurveSensitivity" || param == "TurnAggressiveness") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, "%"); + + } else if (param == "ExperimentalModeActivation") { + FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedExperimentalModeActivationKeys = experimentalModeActivationKeys; + + if (isSubaru || (params.getBool("AlwaysOnLateral") && params.getBool("AlwaysOnLateralLKAS"))) { + modifiedExperimentalModeActivationKeys.erase("ExperimentalModeViaLKAS"); + } + + showToggles(modifiedExperimentalModeActivationKeys); + }); + longitudinalToggle = experimentalModeActivationToggle; + + } else if (param == "LongitudinalTune") { + FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(longitudinalTuneKeys); + }); + longitudinalToggle = longitudinalTuneToggle; + } else if (param == "AccelerationProfile") { + std::vector accelerationProfiles{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")}; + ButtonParamControl *accelerationProfileToggle = new ButtonParamControl(param, title, desc, icon, accelerationProfiles); + longitudinalToggle = accelerationProfileToggle; + } else if (param == "DecelerationProfile") { + std::vector decelerationProfiles{tr("Standard"), tr("Eco"), tr("Sport")}; + ButtonParamControl *decelerationProfileToggle = new ButtonParamControl(param, title, desc, icon, decelerationProfiles); + longitudinalToggle = decelerationProfileToggle; + } else if (param == "LeadDetectionThreshold") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, "%"); + } else if (param == "MaxDesiredAcceleration") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.1, 4.0, "m/s", std::map(), 0.1); + + } else if (param == "QOLLongitudinal") { + FrogPilotParamManageControl *qolLongitudinalToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(qolLongitudinalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedQolKeys = qolKeys; + + if (!hasPCMCruise) { + modifiedQolKeys.erase("ReverseCruise"); + } else { + modifiedQolKeys.erase("CustomCruise"); + modifiedQolKeys.erase("CustomCruiseLong"); + modifiedQolKeys.erase("SetSpeedOffset"); + } + + if (!(isGM || isHKGCanFd || isToyota)) { + modifiedQolKeys.erase("MapGears"); + } + + showToggles(modifiedQolKeys); + }); + longitudinalToggle = qolLongitudinalToggle; + } else if (param == "CustomCruise") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph")); + } else if (param == "CustomCruiseLong") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph")); + } else if (param == "IncreasedStoppedDistance") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet")); + } else if (param == "MapGears") { + std::vector mapGearsToggles{"MapAcceleration", "MapDeceleration"}; + std::vector mapGearsToggleNames{tr("Acceleration"), tr("Deceleration")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, mapGearsToggles, mapGearsToggleNames); + } else if (param == "SetSpeedOffset") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); + + } else if (param == "SpeedLimitController") { + FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + slcOpen = true; + + showToggles(speedLimitControllerKeys); + }); + longitudinalToggle = speedLimitControllerToggle; + } else if (param == "SLCFallback") { + std::vector fallbackOptions{tr("Set Speed"), tr("Experimental Mode"), tr("Previous Limit")}; + ButtonParamControl *fallbackSelection = new ButtonParamControl(param, title, desc, icon, fallbackOptions); + longitudinalToggle = fallbackSelection; + } else if (param == "SLCOverride") { + std::vector overrideOptions{tr("None"), tr("Set With Gas Pedal"), tr("Max Set Speed")}; + ButtonParamControl *overrideSelection = new ButtonParamControl(param, title, desc, icon, overrideOptions); + longitudinalToggle = overrideSelection; + } else if (param == "SLCPriority") { + ButtonControl *slcPriorityButton = new ButtonControl(title, tr("SELECT"), desc); + QStringList primaryPriorities = {tr("Dashboard"), tr("Map Data"), tr("Navigation"), tr("Highest"), tr("Lowest")}; + QStringList otherPriorities = {tr("None"), tr("Dashboard"), tr("Map Data"), tr("Navigation")}; + QStringList priorityPrompts = {tr("Select your primary priority"), tr("Select your secondary priority"), tr("Select your tertiary priority")}; + + QObject::connect(slcPriorityButton, &ButtonControl::clicked, [=]() { + QStringList selectedPriorities; + + for (int i = 1; i <= 3; ++i) { + QStringList availablePriorities = (i == 1) ? primaryPriorities : otherPriorities; + availablePriorities = availablePriorities.toSet().subtract(selectedPriorities.toSet()).toList(); + + if (!hasDashSpeedLimits) { + availablePriorities.removeAll(tr("Dashboard")); + } + if (availablePriorities.size() == 1 && availablePriorities.contains(tr("None"))) { + break; + } + + QString selection = MultiOptionDialog::getSelection(priorityPrompts[i - 1], availablePriorities, "", this); + if (selection.isEmpty()) { + break; + } + + params.put(QString("SLCPriority%1").arg(i).toStdString(), selection.toStdString()); + selectedPriorities.append(selection); + + if (selection == tr("None")) { + for (int j = i + 1; j <= 3; ++j) { + params.put(QString("SLCPriority%1").arg(j).toStdString(), tr("None").toStdString()); + } + break; + } + + if (selection == tr("Lowest") || selection == tr("Highest")) { + break; + } + } + + selectedPriorities.removeAll(tr("None")); + slcPriorityButton->setValue(selectedPriorities.join(", ")); + }); + + QStringList initialPriorities; + for (int i = 1; i <= 3; ++i) { + QString priority = QString::fromStdString(params.get(QString("SLCPriority%1").arg(i).toStdString())); + if (!priority.isEmpty() && priority != tr("None") && primaryPriorities.contains(priority)) { + initialPriorities.append(priority); + } + } + slcPriorityButton->setValue(initialPriorities.join(", ")); + longitudinalToggle = slcPriorityButton; + } else if (param == "SLCOffsets") { + ButtonControl *manageSLCOffsetsBtn = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(manageSLCOffsetsBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + showToggles(speedLimitControllerOffsetsKeys); + }); + longitudinalToggle = manageSLCOffsetsBtn; + } else if (param == "SLCQOL") { + ButtonControl *manageSLCQOLBtn = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(manageSLCQOLBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + + std::set modifiedSpeedLimitControllerQOLKeys = speedLimitControllerQOLKeys; + + if (hasPCMCruise) { + modifiedSpeedLimitControllerQOLKeys.erase("SetSpeedLimit"); + } + + if (!isToyota) { + modifiedSpeedLimitControllerQOLKeys.erase("ForceMPHDashboard"); + } + + showToggles(modifiedSpeedLimitControllerQOLKeys); + }); + longitudinalToggle = manageSLCQOLBtn; + } else if (param == "SLCConfirmation") { + std::vector confirmationToggles{"SLCConfirmationLower", "SLCConfirmationHigher"}; + std::vector confirmationToggleNames{tr("Lower Limits"), tr("Higher Limits")}; + longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, confirmationToggles, confirmationToggleNames); + } else if (param == "SLCLookaheadHigher" || param == "SLCLookaheadLower") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 30, tr(" seconds")); + } else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") { + longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, -99, 99, tr("mph")); + } else if (param == "SLCVisuals") { + ButtonControl *manageSLCVisualsBtn = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(manageSLCVisualsBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + showToggles(speedLimitControllerVisualKeys); + }); + longitudinalToggle = manageSLCVisualsBtn; + + } else { + longitudinalToggle = new ParamControl(param, title, desc, icon); + } + + addItem(longitudinalToggle); + toggles[param] = longitudinalToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(longitudinalToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotLongitudinalPanel::openParentToggle); + } + } + + QObject::connect(static_cast(toggles["ExperimentalModeViaLKAS"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state && params.getBool("AlwaysOnLateralLKAS")) { + params.putBool("AlwaysOnLateralLKAS", false); + } + }); + + FrogPilotParamValueControl *trafficFollowToggle = static_cast(toggles["TrafficFollow"]); + FrogPilotParamValueControl *trafficAccelerationToggle = static_cast(toggles["TrafficJerkAcceleration"]); + FrogPilotParamValueControl *trafficDecelerationToggle = static_cast(toggles["TrafficJerkDeceleration"]); + FrogPilotParamValueControl *trafficDangerToggle = static_cast(toggles["TrafficJerkDanger"]); + FrogPilotParamValueControl *trafficSpeedToggle = static_cast(toggles["TrafficJerkSpeed"]); + FrogPilotParamValueControl *trafficSpeedDecreaseToggle = static_cast(toggles["TrafficJerkSpeedDecrease"]); + FrogPilotButtonsControl *trafficResetButton = static_cast(toggles["ResetTrafficPersonality"]); + QObject::connect(trafficResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for 'Traffic Mode'?"), this)) { + params.putFloat("TrafficFollow", params_default.getFloat("TrafficFollow")); + params.putFloat("TrafficJerkAcceleration", params_default.getFloat("TrafficJerkAcceleration")); + params.putFloat("TrafficJerkDeceleration", params_default.getFloat("TrafficJerkDeceleration")); + params.putFloat("TrafficJerkDanger", params_default.getFloat("TrafficJerkDanger")); + params.putFloat("TrafficJerkSpeed", params_default.getFloat("TrafficJerkSpeed")); + params.putFloat("TrafficJerkSpeedDecrease", params_default.getFloat("TrafficJerkSpeedDecrease")); + trafficFollowToggle->refresh(); + trafficAccelerationToggle->refresh(); + trafficDecelerationToggle->refresh(); + trafficDangerToggle->refresh(); + trafficSpeedToggle->refresh(); + trafficSpeedDecreaseToggle->refresh(); + } + }); + + FrogPilotParamValueControl *aggressiveFollowToggle = static_cast(toggles["AggressiveFollow"]); + FrogPilotParamValueControl *aggressiveAccelerationToggle = static_cast(toggles["AggressiveJerkAcceleration"]); + FrogPilotParamValueControl *aggressiveDecelerationToggle = static_cast(toggles["AggressiveJerkDeceleration"]); + FrogPilotParamValueControl *aggressiveDangerToggle = static_cast(toggles["AggressiveJerkDanger"]); + FrogPilotParamValueControl *aggressiveSpeedToggle = static_cast(toggles["AggressiveJerkSpeed"]); + FrogPilotParamValueControl *aggressiveSpeedDecreaseToggle = static_cast(toggles["AggressiveJerkSpeedDecrease"]); + FrogPilotButtonsControl *aggressiveResetButton = static_cast(toggles["ResetAggressivePersonality"]); + QObject::connect(aggressiveResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Aggressive' personality?"), this)) { + params.putFloat("AggressiveFollow", params_default.getFloat("AggressiveFollow")); + params.putFloat("AggressiveJerkAcceleration", params_default.getFloat("AggressiveJerkAcceleration")); + params.putFloat("AggressiveJerkDeceleration", params_default.getFloat("AggressiveJerkDeceleration")); + params.putFloat("AggressiveJerkDanger", params_default.getFloat("AggressiveJerkDanger")); + params.putFloat("AggressiveJerkSpeed", params_default.getFloat("AggressiveJerkSpeed")); + params.putFloat("AggressiveJerkSpeedDecrease", params_default.getFloat("AggressiveJerkSpeedDecrease")); + aggressiveFollowToggle->refresh(); + aggressiveAccelerationToggle->refresh(); + aggressiveDecelerationToggle->refresh(); + aggressiveDangerToggle->refresh(); + aggressiveSpeedToggle->refresh(); + aggressiveSpeedDecreaseToggle->refresh(); + } + }); + + FrogPilotParamValueControl *standardFollowToggle = static_cast(toggles["StandardFollow"]); + FrogPilotParamValueControl *standardAccelerationToggle = static_cast(toggles["StandardJerkAcceleration"]); + FrogPilotParamValueControl *standardDecelerationToggle = static_cast(toggles["StandardJerkDeceleration"]); + FrogPilotParamValueControl *standardDangerToggle = static_cast(toggles["StandardJerkDanger"]); + FrogPilotParamValueControl *standardSpeedToggle = static_cast(toggles["StandardJerkSpeed"]); + FrogPilotParamValueControl *standardSpeedDecreaseToggle = static_cast(toggles["StandardJerkSpeedDecrease"]); + FrogPilotButtonsControl *standardResetButton = static_cast(toggles["ResetStandardPersonality"]); + QObject::connect(standardResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Standard' personality?"), this)) { + params.putFloat("StandardFollow", params_default.getFloat("StandardFollow")); + params.putFloat("StandardJerkAcceleration", params_default.getFloat("StandardJerkAcceleration")); + params.putFloat("StandardJerkDeceleration", params_default.getFloat("StandardJerkDeceleration")); + params.putFloat("StandardJerkDanger", params_default.getFloat("StandardJerkDanger")); + params.putFloat("StandardJerkSpeed", params_default.getFloat("StandardJerkSpeed")); + params.putFloat("StandardJerkSpeedDecrease", params_default.getFloat("StandardJerkSpeedDecrease")); + standardFollowToggle->refresh(); + standardAccelerationToggle->refresh(); + standardDecelerationToggle->refresh(); + standardDangerToggle->refresh(); + standardSpeedToggle->refresh(); + standardSpeedDecreaseToggle->refresh(); + } + }); + + FrogPilotParamValueControl *relaxedFollowToggle = static_cast(toggles["RelaxedFollow"]); + FrogPilotParamValueControl *relaxedAccelerationToggle = static_cast(toggles["RelaxedJerkAcceleration"]); + FrogPilotParamValueControl *relaxedDecelerationToggle = static_cast(toggles["RelaxedJerkDeceleration"]); + FrogPilotParamValueControl *relaxedDangerToggle = static_cast(toggles["RelaxedJerkDanger"]); + FrogPilotParamValueControl *relaxedSpeedToggle = static_cast(toggles["RelaxedJerkSpeed"]); + FrogPilotParamValueControl *relaxedSpeedDecreaseToggle = static_cast(toggles["RelaxedJerkSpeedDecrease"]); + FrogPilotButtonsControl *relaxedResetButton = static_cast(toggles["ResetRelaxedPersonality"]); + QObject::connect(relaxedResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Relaxed' personality?"), this)) { + params.putFloat("RelaxedFollow", params_default.getFloat("RelaxedFollow")); + params.putFloat("RelaxedJerkAcceleration", params_default.getFloat("RelaxedJerkAcceleration")); + params.putFloat("RelaxedJerkDeceleration", params_default.getFloat("RelaxedJerkDeceleration")); + params.putFloat("RelaxedJerkDanger", params_default.getFloat("RelaxedJerkDanger")); + params.putFloat("RelaxedJerkSpeed", params_default.getFloat("RelaxedJerkSpeed")); + params.putFloat("RelaxedJerkSpeedDecrease", params_default.getFloat("RelaxedJerkSpeedDecrease")); + relaxedFollowToggle->refresh(); + relaxedAccelerationToggle->refresh(); + relaxedDecelerationToggle->refresh(); + relaxedDangerToggle->refresh(); + relaxedSpeedToggle->refresh(); + relaxedSpeedDecreaseToggle->refresh(); + } + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLongitudinalPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotLongitudinalPanel::hideSubToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLongitudinalPanel::updateMetric); +} + +void FrogPilotLongitudinalPanel::showEvent(QShowEvent *event) { + frogpilotToggleLevels = parent->frogpilotToggleLevels; + hasDashSpeedLimits = parent->hasDashSpeedLimits; + hasPCMCruise = parent->hasPCMCruise; + isGM = parent->isGM; + isHKGCanFd = parent->isHKGCanFd; + isSubaru = parent->isSubaru; + isToyota = parent->isToyota; + tuningLevel = parent->tuningLevel; + + hideToggles(); +} + +void FrogPilotLongitudinalPanel::updateMetric(bool metric, bool bootRun) { + static bool previousMetric; + if (metric != previousMetric && !bootRun) { + double distanceConversion = metric ? FOOT_TO_METER : METER_TO_FOOT; + double speedConversion = metric ? MILE_TO_KM : KM_TO_MILE; + + params.putFloatNonBlocking("IncreasedStoppedDistance", params.getFloat("IncreasedStoppedDistance") * distanceConversion); + + params.putFloatNonBlocking("CESignalSpeed", params.getFloat("CESignalSpeed") * speedConversion); + params.putFloatNonBlocking("CESpeed", params.getFloat("CESpeed") * speedConversion); + params.putFloatNonBlocking("CESpeedLead", params.getFloat("CESpeedLead") * speedConversion); + params.putFloatNonBlocking("CustomCruise", params.getFloat("CustomCruise") * speedConversion); + params.putFloatNonBlocking("CustomCruiseLong", params.getFloat("CustomCruiseLong") * speedConversion); + params.putFloatNonBlocking("Offset1", params.getFloat("Offset1") * speedConversion); + params.putFloatNonBlocking("Offset2", params.getFloat("Offset2") * speedConversion); + params.putFloatNonBlocking("Offset3", params.getFloat("Offset3") * speedConversion); + params.putFloatNonBlocking("Offset4", params.getFloat("Offset4") * speedConversion); + params.putFloatNonBlocking("SetSpeedOffset", params.getFloat("SetSpeedOffset") * speedConversion); + } + previousMetric = metric; + + FrogPilotDualParamControl *ceSpeedToggle = reinterpret_cast(toggles["CESpeed"]); + FrogPilotParamValueButtonControl *ceSignal = static_cast(toggles["CESignalSpeed"]); + FrogPilotParamValueControl *customCruiseToggle = static_cast(toggles["CustomCruise"]); + FrogPilotParamValueControl *customCruiseLongToggle = static_cast(toggles["CustomCruiseLong"]); + FrogPilotParamValueControl *offset1Toggle = static_cast(toggles["Offset1"]); + FrogPilotParamValueControl *offset2Toggle = static_cast(toggles["Offset2"]); + FrogPilotParamValueControl *offset3Toggle = static_cast(toggles["Offset3"]); + FrogPilotParamValueControl *offset4Toggle = static_cast(toggles["Offset4"]); + FrogPilotParamValueControl *increasedStoppedDistanceToggle = static_cast(toggles["IncreasedStoppedDistance"]); + FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast(toggles["SetSpeedOffset"]); + + if (metric) { + offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 kph)")); + offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 kph)")); + offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 kph)")); + offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 kph)")); + + offset1Toggle->setDescription(tr("Sets the speed limit offset for speeds between 0-34 kph.")); + offset2Toggle->setDescription(tr("Sets the speed limit offset for speeds between 35-54 kph.")); + offset3Toggle->setDescription(tr("Sets the speed limit offset for speeds between 55-64 kph.")); + offset4Toggle->setDescription(tr("Sets the speed limit offset for speeds between 65-99 kph.")); + + ceSignal->updateControl(0, 150, tr("kph")); + ceSpeedToggle->updateControl(0, 150, tr("kph")); + customCruiseToggle->updateControl(1, 150, tr("kph")); + customCruiseLongToggle->updateControl(1, 150, tr("kph")); + offset1Toggle->updateControl(-99, 99, tr("kph")); + offset2Toggle->updateControl(-99, 99, tr("kph")); + offset3Toggle->updateControl(-99, 99, tr("kph")); + offset4Toggle->updateControl(-99, 99, tr("kph")); + setSpeedOffsetToggle->updateControl(0, 150, tr("kph")); + + increasedStoppedDistanceToggle->updateControl(0, 3, tr(" meters")); + } else { + offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 mph)")); + offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 mph)")); + offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 mph)")); + offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 mph)")); + + offset1Toggle->setDescription(tr("Sets the speed limit offset for speeds between 0-34 mph.")); + offset2Toggle->setDescription(tr("Sets the speed limit offset for speeds between 35-54 mph.")); + offset3Toggle->setDescription(tr("Sets the speed limit offset for speeds between 55-64 mph.")); + offset4Toggle->setDescription(tr("Sets the speed limit offset for speeds between 65-99 mph.")); + + ceSignal->updateControl(0, 99, tr("mph")); + ceSpeedToggle->updateControl(0, 99, tr("mph")); + customCruiseToggle->updateControl(1, 99, tr("mph")); + customCruiseLongToggle->updateControl(1, 99, tr("mph")); + offset1Toggle->updateControl(-99, 99, tr("mph")); + offset2Toggle->updateControl(-99, 99, tr("mph")); + offset3Toggle->updateControl(-99, 99, tr("mph")); + offset4Toggle->updateControl(-99, 99, tr("mph")); + setSpeedOffsetToggle->updateControl(0, 99, tr("mph")); + + increasedStoppedDistanceToggle->updateControl(0, 10, tr(" feet")); + } +} + +void FrogPilotLongitudinalPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotLongitudinalPanel::hideToggles() { + setUpdatesEnabled(false); + + customPersonalityOpen = false; + slcOpen = false; + + for (auto &[key, toggle] : toggles) { + bool subToggles = aggressivePersonalityKeys.find(key) != aggressivePersonalityKeys.end() || + conditionalExperimentalKeys.find(key) != conditionalExperimentalKeys.end() || + curveSpeedKeys.find(key) != curveSpeedKeys.end() || + customDrivingPersonalityKeys.find(key) != customDrivingPersonalityKeys.end() || + experimentalModeActivationKeys.find(key) != experimentalModeActivationKeys.end() || + longitudinalTuneKeys.find(key) != longitudinalTuneKeys.end() || + qolKeys.find(key) != qolKeys.end() || + relaxedPersonalityKeys.find(key) != relaxedPersonalityKeys.end() || + speedLimitControllerKeys.find(key) != speedLimitControllerKeys.end() || + speedLimitControllerOffsetsKeys.find(key) != speedLimitControllerOffsetsKeys.end() || + speedLimitControllerQOLKeys.find(key) != speedLimitControllerQOLKeys.end() || + speedLimitControllerVisualKeys.find(key) != speedLimitControllerVisualKeys.end() || + standardPersonalityKeys.find(key) != standardPersonalityKeys.end() || + trafficPersonalityKeys.find(key) != trafficPersonalityKeys.end(); + + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + std::set toggleKeys = {"ConditionalExperimental", "CurveSpeedControl"}; + for (const QString &key : toggleKeys) { + FrogPilotParamManageControl *control = static_cast(toggles[key]); + control->setVisibleButton(tuningLevel > frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotLongitudinalPanel::hideSubToggles() { + if (customPersonalityOpen) { + customPersonalityOpen = false; + showToggles(customDrivingPersonalityKeys); + } else if (slcOpen) { + showToggles(speedLimitControllerKeys); + } +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h new file mode 100644 index 000000000..dba197676 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h @@ -0,0 +1,60 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotLongitudinalPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + void openSubParentToggle(); + +private: + void hideSubToggles(); + void hideToggles(); + void showEvent(QShowEvent *event) override; + void showToggles(const std::set &keys); + void updateMetric(bool metric, bool bootRun); + + bool customPersonalityOpen; + bool hasDashSpeedLimits; + bool hasPCMCruise; + bool isGM; + bool isHKGCanFd; + bool isSubaru; + bool isToyota; + bool slcOpen; + + int tuningLevel; + + std::map toggles; + + std::set aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"}; + std::set conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed"}; + std::set curveSpeedKeys = {"CurveDetectionMethod", "CurveSensitivity", "HideCSCUI", "MTSCCurvatureCheck", "TurnAggressiveness"}; + std::set customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"}; + std::set experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"}; + std::set longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"}; + std::set qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStandstill", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"}; + std::set relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"}; + std::set speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"}; + std::set speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4"}; + std::set speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCConfirmation", "SLCLookaheadHigher", "SLCLookaheadLower"}; + std::set speedLimitControllerVisualKeys = {"ShowSLCOffset", "SpeedLimitSources"}; + std::set standardPersonalityKeys = {"StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"}; + std::set trafficPersonalityKeys = {"TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", "ResetTrafficPersonality"}; + + FrogPilotButtonToggleControl *curveDetectionToggle; + + FrogPilotSettingsWindow *parent; + + QJsonObject frogpilotToggleLevels; + + Params params; + Params params_default{"/dev/shm/params_default"}; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc new file mode 100644 index 000000000..f20722416 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc @@ -0,0 +1,411 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/model_settings.h" + +FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> modelToggles { + {"AutomaticallyUpdateModels", tr("Automatically Update and Download Models"), tr("Automatically downloads new models and updates existing ones if needed."), ""}, + + {"ModelRandomizer", tr("Model Randomizer"), tr("Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model."), ""}, + {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Manage the blacklisted models that aren't being used with 'Model Randomizer'."), ""}, + {"ResetScores", tr("Reset Model Scores"), tr("Clear the ratings you've given to the driving models."), ""}, + {"ReviewScores", tr("Review Model Scores"), tr("View the ratings you've assigned to the driving models."), ""}, + + {"DeleteModel", tr("Delete Model"), tr("Delete driving models from your device."), ""}, + {"DownloadModel", tr("Download Model"), tr("Download new driving models."), ""}, + {"SelectModel", tr("Select Model"), tr("Select your preferred driving model."), ""}, + }; + + for (const auto &[param, title, desc, icon] : modelToggles) { + AbstractControl *modelToggle; + + if (param == "ModelRandomizer") { + FrogPilotParamManageControl *modelRandomizerToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(modelRandomizerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + modelRandomizerOpen = true; + showToggles(modelRandomizerKeys); + updateModelLabels(); + }); + modelToggle = modelRandomizerToggle; + } else if (param == "ManageBlacklistedModels") { + FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, {tr("ADD"), tr("REMOVE"), tr("REMOVE ALL")}); + QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(","); + blacklistedModels.removeAll(""); + + if (id == 0) { + QStringList blacklistableModels; + for (const QString &model : modelFileToNameMapProcessed.keys()) { + if (!blacklistedModels.contains(model)) { + blacklistableModels.append(modelFileToNameMapProcessed.value(model)); + } + } + + if (blacklistableModels.size() <= 1) { + FrogPilotConfirmationDialog::toggleAlert(tr("There are no more models to blacklist! The only available model is \"%1\"!").arg(blacklistableModels.first()), tr("Ok"), this); + } else { + QString modelToBlacklist = MultiOptionDialog::getSelection(tr("Select a model to add to the blacklist"), blacklistableModels, "", this); + if (!modelToBlacklist.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to add the '%1' model to the blacklist?").arg(modelToBlacklist), tr("Add"), this)) { + blacklistedModels.append(modelFileToNameMapProcessed.key(modelToBlacklist)); + params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); + } + } + } + } else if (id == 1) { + QStringList whitelistableModels; + for (const QString &model : blacklistedModels) { + QString modelName = modelFileToNameMapProcessed.value(model); + if (!modelName.isEmpty()) { + whitelistableModels.append(modelName); + } + } + whitelistableModels.sort(); + + QString modelToWhitelist = MultiOptionDialog::getSelection(tr("Select a model to remove from the blacklist"), whitelistableModels, "", this); + if (!modelToWhitelist.isEmpty()) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to remove the '%1' model from the blacklist?").arg(modelToWhitelist), tr("Remove"), this)) { + blacklistedModels.removeAll(modelFileToNameMapProcessed.key(modelToWhitelist)); + params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); + } + } + } else if (id == 2) { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove all of your blacklisted models?"), this)) { + params.remove("BlacklistedModels"); + params_storage.remove("BlacklistedModels"); + } + } + }); + modelToggle = blacklistBtn; + } else if (param == "ResetScores") { + ButtonControl *resetScoresBtn = new ButtonControl(title, tr("RESET"), desc); + QObject::connect(resetScoresBtn, &ButtonControl::clicked, [this]() { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to reset all of your model drives and scores?"), this)) { + params.remove("ModelDrivesAndScores"); + params_storage.remove("ModelDrivesAndScores"); + updateModelLabels(); + } + }); + modelToggle = resetScoresBtn; + } else if (param == "ReviewScores") { + ButtonControl *reviewScoresBtn = new ButtonControl(title, tr("REVIEW"), desc); + QObject::connect(reviewScoresBtn, &ButtonControl::clicked, [this]() { + openSubParentToggle(); + + for (LabelControl *labels : labelControls) { + labels->setVisible(true); + } + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(false); + } + }); + modelToggle = reviewScoresBtn; + + } else if (param == "DeleteModel") { + deleteModelBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DELETE ALL")}); + QObject::connect(deleteModelBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList deletableModels; + for (const QString &file : modelDir.entryList(QDir::Files)) { + QString modelName = modelFileToNameMapProcessed.value(QFileInfo(file).baseName()); + if (!modelName.isEmpty()) { + deletableModels.append(modelName); + } + } + deletableModels.removeAll(processModelName(currentModel)); + deletableModels.removeAll(modelFileToNameMapProcessed.value(QString::fromStdString(params_default.get("Model")))); + + if (id == 0) { + QString modelToDelete = MultiOptionDialog::getSelection(tr("Select a driving model to delete"), deletableModels, "", this); + if (!modelToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' model?").arg(modelToDelete), tr("Delete"), this)) { + QString modelFile = modelFileToNameMapProcessed.key(modelToDelete); + for (const QString &file : modelDir.entryList(QDir::Files)) { + if (QFileInfo(file).baseName() == modelFile) { + QFile::remove(modelDir.filePath(file)); + break; + } + } + allModelsDownloaded = false; + } + } else if (id == 1) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all of your downloaded driving models?"), tr("Delete"), this)) { + for (const QString &file : modelDir.entryList(QDir::Files)) { + QString modelName = modelFileToNameMapProcessed.value(QFileInfo(file).baseName()); + if (deletableModels.contains(modelName)) { + QFile::remove(modelDir.filePath(file)); + } + } + allModelsDownloaded = false; + noModelsDownloaded = true; + } + } + }); + modelToggle = deleteModelBtn; + } else if (param == "DownloadModel") { + downloadModelBtn = new FrogPilotButtonsControl(title, desc, {tr("DOWNLOAD"), tr("DOWNLOAD ALL")}); + QObject::connect(downloadModelBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + if (id == 0) { + if (modelDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelModelDownload", true); + } else { + for (const QString &file : modelDir.entryList(QDir::Files)) { + downloadableModels.removeAll(modelFileToNameMap.value(QFileInfo(file).baseName())); + } + + QString modelToDownload = MultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableModels, "", this); + if (!modelToDownload.isEmpty()) { + modelDownloading = true; + + params_memory.put("ModelToDownload", modelFileToNameMap.key(modelToDownload).toStdString()); + params_memory.put("ModelDownloadProgress", "Downloading..."); + + downloadModelBtn->setValue("Downloading..."); + + downloadModelBtn->setVisibleButton(1, false); + } + } + } else if (id == 1) { + if (allModelsDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelModelDownload", true); + } else { + allModelsDownloading = true; + + params_memory.putBool("DownloadAllModels", true); + params_memory.put("ModelDownloadProgress", "Downloading..."); + + downloadModelBtn->setValue("Downloading..."); + + downloadModelBtn->setVisibleButton(0, false); + } + } + }); + modelToggle = downloadModelBtn; + } else if (param == "SelectModel") { + selectModelBtn = new ButtonControl(title, tr("SELECT"), desc); + QObject::connect(selectModelBtn, &ButtonControl::clicked, [this]() { + QStringList selectableModels; + for (const QString &file : modelDir.entryList(QDir::Files)) { + QString modelName = modelFileToNameMap.value(QFileInfo(file).baseName()); + if (!modelName.isEmpty() && !modelName.contains("(Default)")) { + selectableModels.append(modelName); + } + } + selectableModels.prepend(modelFileToNameMap.value(QString::fromStdString(params_default.get("Model")))); + + QString modelToSelect = MultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), selectableModels, currentModel, this); + if (!modelToSelect.isEmpty()) { + currentModel = modelToSelect; + params.put("Model", modelFileToNameMap.key(modelToSelect).toStdString()); + + if (started) { + if (FrogPilotConfirmationDialog::toggleReboot(this)) { + Hardware::reboot(); + } + } + selectModelBtn->setValue(modelToSelect); + } + }); + modelToggle = selectModelBtn; + + } else { + modelToggle = new ParamControl(param, title, desc, icon); + } + + addItem(modelToggle); + toggles[param] = modelToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(modelToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotModelPanel::openParentToggle); + } + } + + QObject::connect(static_cast(toggles["ModelRandomizer"]), &ToggleControl::toggleFlipped, [this](bool state) { + if (state && !allModelsDownloaded) { + if (FrogPilotConfirmationDialog::yesorno(tr("The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models?"), this)) { + allModelsDownloading = true; + + params_memory.putBool("DownloadAllModels", true); + params_memory.put("ModelDownloadProgress", "Downloading..."); + + downloadModelBtn->setValue("Downloading..."); + } + } + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotModelPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotModelPanel::hideSubToggles); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotModelPanel::updateState); +} + +void FrogPilotModelPanel::showEvent(QShowEvent *event) { + frogpilotToggleLevels = parent->frogpilotToggleLevels; + tuningLevel = parent->tuningLevel; + + availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); + availableModels.sort(); + availableModelNames = QString::fromStdString(params.get("AvailableModelNames")).split(","); + availableModelNames.sort(); + + int size = qMin(availableModels.size(), availableModelNames.size()); + for (int i = 0; i < size; ++i) { + modelFileToNameMap.insert(availableModels[i], availableModelNames[i]); + modelFileToNameMapProcessed.insert(availableModels[i], processModelName(availableModelNames[i])); + } + + downloadableModels = availableModelNames; + for (const QString &file : modelDir.entryList(QDir::Files)) { + downloadableModels.removeAll(modelFileToNameMap.value(QFileInfo(file).baseName())); + } + allModelsDownloaded = downloadableModels.isEmpty(); + + QStringList deletableModels; + for (const QString &file : modelDir.entryList(QDir::Files)) { + QString modelName = modelFileToNameMapProcessed.value(QFileInfo(file).baseName()); + if (!modelName.isEmpty()) { + deletableModels.append(modelName); + } + } + deletableModels.removeAll(processModelName(currentModel)); + deletableModels.removeAll(modelFileToNameMapProcessed.value(QString::fromStdString(params_default.get("Model")))); + noModelsDownloaded = deletableModels.isEmpty(); + + currentModel = modelFileToNameMap.value(QString::fromStdString(params.get("Model"))); + selectModelBtn->setValue(currentModel); + + hideToggles(); +} + +void FrogPilotModelPanel::updateState(const UIState &s) { + if (!isVisible() || finalizingDownload) { + return; + } + + if (allModelsDownloading || modelDownloading) { + QString progress = QString::fromStdString(params_memory.get("ModelDownloadProgress")); + bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); + + if (progress != "Downloading...") { + downloadModelBtn->setValue(progress); + } + + if (progress == "All models downloaded!" && allModelsDownloading || progress == "Downloaded!" && modelDownloading || downloadFailed) { + finalizingDownload = true; + + QTimer::singleShot(2500, [this, progress]() { + allModelsDownloaded = progress == "All models downloaded!"; + allModelsDownloading = false; + cancellingDownload = false; + finalizingDownload = false; + modelDownloading = false; + noModelsDownloaded = false; + + params_memory.remove("CancelModelDownload"); + params_memory.remove("DownloadAllModels"); + params_memory.remove("ModelDownloadProgress"); + params_memory.remove("ModelToDownload"); + + downloadModelBtn->setEnabled(true); + downloadModelBtn->setValue(""); + }); + } + } + + bool parked = !started || s.scene.parked || s.scene.frogs_go_moo; + + deleteModelBtn->setEnabled(!(allModelsDownloading || modelDownloading || noModelsDownloaded)); + + downloadModelBtn->setText(0, modelDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + downloadModelBtn->setText(1, allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD ALL")); + + downloadModelBtn->setEnabledButtons(0, !allModelsDownloaded && !allModelsDownloading && !cancellingDownload && s.scene.online && parked); + downloadModelBtn->setEnabledButtons(1, !allModelsDownloaded && !modelDownloading && !cancellingDownload && s.scene.online && parked); + + downloadModelBtn->setVisibleButton(0, !allModelsDownloading); + downloadModelBtn->setVisibleButton(1, !modelDownloading); + + started = s.scene.started; + + parent->keepScreenOn = allModelsDownloading || modelDownloading; +} + +void FrogPilotModelPanel::updateModelLabels() { + QString modelDrivesAndScoresJson = QString::fromStdString(params.get("ModelDrivesAndScores")); + QJsonDocument jsonDoc = QJsonDocument::fromJson(modelDrivesAndScoresJson.toUtf8()); + QJsonObject modelDrivesAndScores = jsonDoc.object(); + + qDeleteAll(labelControls); + labelControls.clear(); + + for (const QString &modelName : availableModelNames) { + QJsonObject modelData = modelDrivesAndScores.value(processModelName(modelName)).toObject(); + + int drives = modelData.value("Drives").toInt(0); + int score = modelData.value("Score").toInt(0); + + QString drivesDisplay = drives == 1 ? QString("%1 Drive").arg(drives) : drives > 0 ? QString("%1 Drives").arg(drives) : "N/A"; + QString scoreDisplay = drives > 0 ? QString("Score: %1%").arg(score) : "N/A"; + + QString labelTitle = QStringLiteral("%1").arg(processModelName(modelName)); + QString labelText = QStringLiteral("%1 (%2)").arg(scoreDisplay, drivesDisplay); + + LabelControl *labelControl = new LabelControl(labelTitle, labelText, "", this); + labelControls.append(labelControl); + addItem(labelControl); + } + + for (LabelControl *labels : labelControls) { + labels->setVisible(false); + } +} + +void FrogPilotModelPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotModelPanel::hideToggles() { + setUpdatesEnabled(false); + + modelRandomizerOpen = false; + + for (auto &[key, toggle] : toggles) { + bool subToggles = modelRandomizerKeys.find(key) != modelRandomizerKeys.end(); + + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + for (LabelControl *labels : labelControls) { + labels->setVisible(false); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotModelPanel::hideSubToggles() { + setUpdatesEnabled(false); + + if (modelRandomizerOpen) { + for (auto &[key, toggle] : toggles) { + toggle->setVisible(modelRandomizerKeys.find(key) != modelRandomizerKeys.end()); + } + + for (LabelControl *labels : labelControls) { + labels->setVisible(false); + } + } + + setUpdatesEnabled(true); + + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/model_settings.h b/selfdrive/frogpilot/ui/qt/offroad/model_settings.h new file mode 100644 index 000000000..fbb4f016f --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/model_settings.h @@ -0,0 +1,68 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotModelPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotModelPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + void openSubParentToggle(); + +protected: + void showEvent(QShowEvent *event) override; + +private: + void hideSubToggles(); + void hideToggles(); + void showToggles(const std::set &keys); + void updateModelLabels(); + void updateState(const UIState &s); + + bool allModelsDownloaded; + bool allModelsDownloading; + bool cancellingDownload; + bool finalizingDownload; + bool modelDownloading; + bool modelRandomizerOpen; + bool noModelsDownloaded; + bool started; + + int tuningLevel; + + std::map toggles; + + std::set modelRandomizerKeys = {"ManageBlacklistedModels", "ResetScores", "ReviewScores"}; + + ButtonControl *selectModelBtn; + + FrogPilotButtonsControl *deleteModelBtn; + FrogPilotButtonsControl *downloadModelBtn; + + FrogPilotSettingsWindow *parent; + + Params params; + Params params_default{"/dev/shm/params_default"}; + Params params_memory{"/dev/shm/params"}; + Params params_storage{"/persist/params"}; + + QDir modelDir{"/data/models/"}; + + QJsonObject frogpilotToggleLevels; + + QList labelControls; + + QMap modelFileToNameMap; + QMap modelFileToNameMapProcessed; + + QString currentModel; + + QStringList availableModels; + QStringList availableModelNames; + QStringList downloadableModels; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc new file mode 100644 index 000000000..ca0a9493f --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc @@ -0,0 +1,157 @@ +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h" + +void playSound(const std::string &alert, int volume) { + Params params_memory{"/dev/shm/params"}; + + std::string stockPath = "/data/openpilot/selfdrive/assets/sounds/" + alert + ".wav"; + std::string themePath = "/data/openpilot/selfdrive/frogpilot/assets/active_theme/sounds/" + alert + ".wav"; + + std::string filePath; + if (std::filesystem::exists(themePath)) { + filePath = themePath; + } else if (std::filesystem::exists(stockPath)) { + filePath = stockPath; + } else { + return; + } + + params_memory.putBool("TestingSound", true); + + std::system("pkill -f 'ffplay'"); + + volume = std::clamp(volume, 0, 100); + std::string command = "ffplay -nodisp -autoexit -volume " + std::to_string(volume) + " \"" + filePath + "\""; + std::system(command.c_str()); + + params_memory.putBool("TestingSound", false); +} + +FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> soundsToggles { + {"AlertVolumeControl", tr("Alert Volume Controller"), tr("Control the volume level for each individual sound in openpilot."), "../frogpilot/assets/toggle_icons/icon_mute.png"}, + {"DisengageVolume", tr("Disengage Volume"), tr("Related alerts:\n\nAdaptive Cruise Disabled\nParking Brake Engaged\nBrake Pedal Pressed\nSpeed too Low"), ""}, + {"EngageVolume", tr("Engage Volume"), tr("Related alerts:\n\nNNFF Torque Controller loaded\nopenpilot engaged"), ""}, + {"PromptVolume", tr("Prompt Volume"), tr("Related alerts:\n\nCar Detected in Blindspot\nSpeed too Low\nSteer Unavailable Below 'X'\nTake Control, Turn Exceeds Steering Limit"), ""}, + {"PromptDistractedVolume", tr("Prompt Distracted Volume"), tr("Related alerts:\n\nPay Attention, Driver Distracted\nTouch Steering Wheel, Driver Unresponsive"), ""}, + {"RefuseVolume", tr("Refuse Volume"), tr("Related alerts:\n\nopenpilot Unavailable"), ""}, + {"WarningSoftVolume", tr("Warning Soft Volume"), tr("Related alerts:\n\nBRAKE!, Risk of Collision\nTAKE CONTROL IMMEDIATELY"), ""}, + {"WarningImmediateVolume", tr("Warning Immediate Volume"), tr("Related alerts:\n\nDISENGAGE IMMEDIATELY, Driver Distracted\nDISENGAGE IMMEDIATELY, Driver Unresponsive"), ""}, + + {"CustomAlerts", tr("Custom Alerts"), tr("Custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"}, + {"GoatScream", tr("Goat Scream Steering Saturated Alert"), tr("Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world!"), ""}, + {"GreenLightAlert", tr("Green Light Alert"), tr("Plays an alert when a traffic light changes from red to green."), ""}, + {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Plays an alert when the lead vehicle starts starts to depart when at a standstill."), ""}, + {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""}, + {"SpeedLimitChangedAlert", tr("Speed Limit Changed Alert"), tr("Plays an alert when the speed limit changes."), ""}, + }; + + for (const auto &[param, title, desc, icon] : soundsToggles) { + AbstractControl *soundsToggle; + + if (param == "AlertVolumeControl") { + FrogPilotParamManageControl *alertVolumeControlToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(alertVolumeControlToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(alertVolumeControlKeys); + }); + soundsToggle = alertVolumeControlToggle; + } else if (alertVolumeControlKeys.find(param) != alertVolumeControlKeys.end()) { + std::map volumeLabels; + for (int i = 0; i <= 101; ++i) { + volumeLabels[i] = i == 101 ? tr("Auto") : i == 0 ? tr("Muted") : QString::number(i) + "%"; + } + std::vector alertButton{"Test"}; + if (param == "WarningImmediateVolume") { + soundsToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 25, 101, QString(), volumeLabels, 1, {}, alertButton, false, false); + } else { + soundsToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 101, QString(), volumeLabels, 1, {}, alertButton, false, false); + } + + } else if (param == "CustomAlerts") { + FrogPilotParamManageControl *customAlertsToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customAlertsToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedCustomAlertsKeys = customAlertsKeys; + + if (!hasBSM) { + modifiedCustomAlertsKeys.erase("LoudBlindspotAlert"); + } + + if (!(params.getBool("ShowSpeedLimits") || hasOpenpilotLongitudinal && params.getBool("SpeedLimitController"))) { + modifiedCustomAlertsKeys.erase("SpeedLimitChangedAlert"); + } + + showToggles(modifiedCustomAlertsKeys); + }); + soundsToggle = customAlertsToggle; + + } else { + soundsToggle = new ParamControl(param, title, desc, icon); + } + + addItem(soundsToggle); + toggles[param] = soundsToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(soundsToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotSoundsPanel::openParentToggle); + } + } + + for (const QString &key : alertVolumeControlKeys) { + FrogPilotParamValueButtonControl *toggle = static_cast(toggles[key]); + QObject::connect(toggle, &FrogPilotParamValueButtonControl::buttonClicked, [=]() { + QString alertKey = key; + alertKey.remove("Volume"); + QString snakeCaseKey; + for (int i = 0; i < alertKey.size(); ++i) { + QChar c = alertKey[i]; + if (c.isUpper() && i > 0) { + snakeCaseKey += '_'; + } + snakeCaseKey += c.toLower(); + } + + std::thread([=]() { + playSound(snakeCaseKey.toStdString(), params.getInt(key.toStdString())); + }).detach(); + }); + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotSoundsPanel::hideToggles); +} + +void FrogPilotSoundsPanel::showEvent(QShowEvent *event) { + frogpilotToggleLevels = parent->frogpilotToggleLevels; + hasBSM = parent->hasBSM; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + tuningLevel = parent->tuningLevel; + + hideToggles(); +} + +void FrogPilotSoundsPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotSoundsPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = alertVolumeControlKeys.find(key) != alertVolumeControlKeys.end() || + customAlertsKeys.find(key) != customAlertsKeys.end(); + + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h new file mode 100644 index 000000000..1664664ba --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h @@ -0,0 +1,36 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotSoundsPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showEvent(QShowEvent *event) override; + void showToggles(const std::set &keys); + + bool hasBSM; + bool hasOpenpilotLongitudinal; + + int tuningLevel; + + std::map toggles; + + std::set alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"}; + std::set customAlertsKeys = {"GoatScream", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"}; + + FrogPilotSettingsWindow *parent; + + QJsonObject frogpilotToggleLevels; + + Params params; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc new file mode 100644 index 000000000..d2413d589 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc @@ -0,0 +1,615 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h" + +void updateAssetParam(const QString &assetParam, Params ¶ms, const QString &value, bool add) { + QStringList assets = QString::fromStdString(params.get(assetParam.toStdString())).split(",", QString::SkipEmptyParts); + + if (add) { + if (!assets.contains(value)) { + assets.append(value); + } + } else { + assets.removeAll(value); + } + + assets.sort(); + params.put(assetParam.toStdString(), assets.join(",").toStdString()); +} + +void deleteThemeAsset(QDir &directory, const QString &subFolder, const QString &assetParam, const QString &themeToDelete, Params ¶ms) { + bool useFiles = subFolder.isEmpty(); + + QString themeName = themeToDelete.toLower().replace(" (", "-").replace(")", "").replace(' ', '-'); + if (useFiles) { + for (const QString &file : directory.entryList(QDir::Files)) { + QString fileName = QFileInfo(file).baseName().toLower().replace('_', '-'); + if (fileName == themeName) { + QFile::remove(directory.filePath(file)); + break; + } + } + } else { + QDir targetDir(directory.filePath(QDir(themeName).filePath(subFolder))); + if (targetDir.exists()) { + targetDir.removeRecursively(); + } + } + + updateAssetParam(assetParam, params, themeToDelete, true); +} + +void downloadThemeAsset(const QString &input, const std::string ¶mKey, const QString &assetParam, Params ¶ms, Params ¶ms_memory) { + QString output = input.toLower().remove('(').remove(')'); + output.replace(' ', input.contains('(') ? '-' : '_'); + params_memory.put(paramKey, output.toStdString()); + + updateAssetParam(assetParam, params, input, false); +} + +QStringList getThemeList(const QDir &themePacksDirectory, const QString &subFolder, const QString &assetParam, Params ¶ms) { + bool useFiles = subFolder.isEmpty(); + + QString currentAsset = QString::fromStdString(params.get(assetParam.toStdString())); + QStringList themeList; + for (const QFileInfo &entry : themePacksDirectory.entryInfoList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot)) { + if (entry.baseName() == currentAsset) { + continue; + } + + if (useFiles && entry.isDir()) { + continue; + } + + if (!useFiles) { + QString targetPath = QDir(entry.filePath()).filePath(subFolder); + if (!QFileInfo(targetPath).exists()) { + continue; + } + } + + QChar delimiter = entry.baseName().contains('-') ? '-' : '_'; + QStringList parts = entry.baseName().split(delimiter, QString::SkipEmptyParts); + for (QString &part : parts) { + part[0] = part[0].toUpper(); + } + + themeList.append(parts.size() <= 1 || useFiles ? parts.join(' ') : QString("%1 (%2)").arg(parts[0], parts.mid(1).join(' '))); + } + + return themeList; +} + +QString getThemeName(const std::string ¶mKey, Params ¶ms) { + QString value = QString::fromStdString(params.get(paramKey)); + QChar delimiter = value.contains('-') ? '-' : '_'; + + QStringList parts = value.split(delimiter, QString::SkipEmptyParts); + for (QString &part : parts) { + part[0] = part[0].toUpper(); + } + + if (value.contains('-') && parts.size() > 1) { + return QString("%1 (%2)").arg(parts[0], parts.mid(1).join(' ')); + } + return parts.join(' '); +} + +QString storeThemeName(const QString &input, const std::string ¶mKey, Params ¶ms) { + QString output = input.toLower().remove('(').remove(')'); + output.replace(' ', input.contains('(') ? '-' : '_'); + params.put(paramKey, output.toStdString()); + return getThemeName(paramKey, params); +} + +FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> themeToggles { + {"PersonalizeOpenpilot", tr("Custom Theme"), tr("Custom openpilot themes."), "../frogpilot/assets/toggle_icons/frog.png"}, + {"CustomColors", tr("Color Scheme"), tr("Changes out openpilot's color scheme.\n\nWant to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, + {"CustomDistanceIcons", "Distance Button", "Changes out openpilot's distance button icons.\n\nWant to submit your own icon pack? Share it in the 'custom-themes' channel on the FrogPilot Discord!", ""}, + {"CustomIcons", tr("Icon Pack"), tr("Changes out openpilot's icon pack.\n\nWant to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, + {"CustomSounds", tr("Sound Pack"), tr("Changes out openpilot's sound effects.\n\nWant to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, + {"WheelIcon", tr("Steering Wheel"), tr("Enables a custom steering wheel icon in the top right of the screen."), ""}, + {"CustomSignals", tr("Turn Signal Animation"), tr("Enables themed turn signal animations.\n\nWant to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, + {"DownloadStatusLabel", tr("Download Status"), "", ""}, + + {"HolidayThemes", tr("Holiday Themes"), tr("Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week."), "../frogpilot/assets/toggle_icons/icon_calendar.png"}, + + {"RainbowPath", tr("Rainbow Path"), tr("Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'."), "../frogpilot/assets/toggle_icons/icon_rainbow.png"}, + + {"RandomEvents", tr("Random Events"), tr("Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls!"), "../frogpilot/assets/toggle_icons/icon_random.png"}, + + {"StartupAlert", tr("Startup Alert"), tr("Controls the text of the 'Startup' alert message that appears when you start the drive."), "../frogpilot/assets/toggle_icons/icon_message.png"} + }; + + for (const auto &[param, title, desc, icon] : themeToggles) { + AbstractControl *themeToggle; + + if (param == "PersonalizeOpenpilot") { + FrogPilotParamManageControl *personalizeOpenpilotToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(personalizeOpenpilotToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(customThemeKeys); + }); + themeToggle = personalizeOpenpilotToggle; + } else if (param == "CustomColors") { + manageCustomColorsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + QObject::connect(manageCustomColorsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList colorSchemes = getThemeList(QDir(themePacksDirectory.path()), "colors", "CustomColors", params); + + if (id == 0) { + QString colorSchemeToDelete = MultiOptionDialog::getSelection(tr("Select a color scheme to delete"), colorSchemes, "", this); + if (!colorSchemeToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' color scheme?").arg(colorSchemeToDelete), tr("Delete"), this)) { + colorsDownloaded = false; + + deleteThemeAsset(themePacksDirectory, "colors", "DownloadableColors", colorSchemeToDelete, params); + } + } else if (id == 1) { + if (colorDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelThemeDownload", true); + + updateAssetParam("DownloadableColors", params, colorSchemeToDownload, true); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + colorDownloading = false; + themeDownloading = false; + + params_memory.putBool("CancelThemeDownload", false); + }); + } else { + QStringList downloadableColorSchemes = QString::fromStdString(params.get("DownloadableColors")).split(","); + colorSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a color scheme to download"), downloadableColorSchemes, "", this); + if (!colorSchemeToDownload.isEmpty()) { + colorDownloading = true; + themeDownloading = true; + + params_memory.put("ThemeDownloadProgress", "Downloading..."); + + downloadThemeAsset(colorSchemeToDownload, "ColorToDownload", "DownloadableColors", params, params_memory); + downloadStatusLabel->setText("Downloading..."); + } + } + } else if (id == 2) { + colorSchemes.append("Stock"); + colorSchemes.sort(); + QString colorSchemeToSelect = MultiOptionDialog::getSelection(tr("Select a color scheme"), colorSchemes, getThemeName("CustomColors", params), this); + if (!colorSchemeToSelect.isEmpty()) { + manageCustomColorsBtn->setValue(storeThemeName(colorSchemeToSelect, "CustomColors", params)); + } + } + }); + manageCustomColorsBtn->setValue(getThemeName(param.toStdString(), params)); + themeToggle = manageCustomColorsBtn; + } else if (param == "CustomDistanceIcons") { + manageDistanceIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + QObject::connect(manageDistanceIconsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList distanceIconPacks = getThemeList(QDir(themePacksDirectory.path()), "distance_icons", "CustomDistanceIcons", params); + + if (id == 0) { + QString distanceIconPackToDelete = MultiOptionDialog::getSelection(tr("Select a distance icon pack to delete"), distanceIconPacks, "", this); + if (!distanceIconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' distance icon pack?").arg(distanceIconPackToDelete), tr("Delete"), this)) { + distanceIconsDownloaded = false; + + deleteThemeAsset(themePacksDirectory, "distance_icons", "DownloadableDistanceIcons", distanceIconPackToDelete, params); + } + } else if (id == 1) { + if (distanceIconDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelThemeDownload", true); + + updateAssetParam("DownloadableDistanceIcons", params, distanceIconPackToDownload, true); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + distanceIconDownloading = false; + themeDownloading = false; + + params_memory.putBool("CancelThemeDownload", false); + }); + } else { + QStringList downloadableDistanceIconPacks = QString::fromStdString(params.get("DownloadableDistanceIcons")).split(","); + distanceIconPackToDownload = MultiOptionDialog::getSelection(tr("Select a distance icon pack to download"), downloadableDistanceIconPacks, "", this); + if (!distanceIconPackToDownload.isEmpty()) { + distanceIconDownloading = true; + themeDownloading = true; + + params_memory.put("ThemeDownloadProgress", "Downloading..."); + + downloadThemeAsset(distanceIconPackToDownload, "DistanceIconToDownload", "DownloadableDistanceIcons", params, params_memory); + downloadStatusLabel->setText("Downloading..."); + } + } + } else if (id == 2) { + distanceIconPacks.append("Stock"); + distanceIconPacks.sort(); + QString distanceIconPackToSelect = MultiOptionDialog::getSelection(tr("Select a distance icon pack"), distanceIconPacks, getThemeName("CustomDistanceIcons", params), this); + if (!distanceIconPackToSelect.isEmpty()) { + manageDistanceIconsBtn->setValue(storeThemeName(distanceIconPackToSelect, "CustomDistanceIcons", params)); + } + } + }); + manageDistanceIconsBtn->setValue(getThemeName(param.toStdString(), params)); + themeToggle = manageDistanceIconsBtn; + } else if (param == "CustomIcons") { + manageCustomIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + QObject::connect(manageCustomIconsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList iconPacks = getThemeList(QDir(themePacksDirectory.path()), "icons", "CustomIcons", params); + + if (id == 0) { + QString iconPackToDelete = MultiOptionDialog::getSelection(tr("Select an icon pack to delete"), iconPacks, "", this); + if (!iconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' icon pack?").arg(iconPackToDelete), tr("Delete"), this)) { + iconsDownloaded = false; + + deleteThemeAsset(themePacksDirectory, "icons", "DownloadableIcons", iconPackToDelete, params); + } + } else if (id == 1) { + if (iconDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelThemeDownload", true); + + updateAssetParam("DownloadableIcons", params, colorSchemeToDownload, true); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + iconDownloading = false; + themeDownloading = false; + + params_memory.putBool("CancelThemeDownload", false); + }); + } else { + QStringList downloadableIconPacks = QString::fromStdString(params.get("DownloadableIcons")).split(","); + iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIconPacks, "", this); + if (!iconPackToDownload.isEmpty()) { + iconDownloading = true; + themeDownloading = true; + + params_memory.put("ThemeDownloadProgress", "Downloading..."); + + downloadThemeAsset(iconPackToDownload, "IconToDownload", "DownloadableIcons", params, params_memory); + downloadStatusLabel->setText("Downloading..."); + } + } + } else if (id == 2) { + iconPacks.append("Stock"); + iconPacks.sort(); + QString iconPackToSelect = MultiOptionDialog::getSelection(tr("Select an icon pack"), iconPacks, getThemeName("CustomIcons", params), this); + if (!iconPackToSelect.isEmpty()) { + manageCustomIconsBtn->setValue(storeThemeName(iconPackToSelect, "CustomIcons", params)); + } + } + }); + manageCustomIconsBtn->setValue(getThemeName(param.toStdString(), params)); + themeToggle = manageCustomIconsBtn; + } else if (param == "CustomSignals") { + manageCustomSignalsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + QObject::connect(manageCustomSignalsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList signalAnimations = getThemeList(QDir(themePacksDirectory.path()), "signals", "CustomSignals", params); + + if (id == 0) { + QString signalAnimationToDelete = MultiOptionDialog::getSelection(tr("Select a signal animation to delete"), signalAnimations, "", this); + if (!signalAnimationToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' signal animation?").arg(signalAnimationToDelete), tr("Delete"), this)) { + signalsDownloaded = false; + + deleteThemeAsset(themePacksDirectory, "signals", "DownloadableSignals", signalAnimationToDelete, params); + } + } else if (id == 1) { + if (signalDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelThemeDownload", true); + + updateAssetParam("DownloadableSignals", params, colorSchemeToDownload, true); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + signalDownloading = false; + themeDownloading = false; + + params_memory.putBool("CancelThemeDownload", false); + }); + } else { + QStringList downloadableSignalAnimations = QString::fromStdString(params.get("DownloadableSignals")).split(","); + signalAnimationToDownload = MultiOptionDialog::getSelection(tr("Select a signal animation to download"), downloadableSignalAnimations, "", this); + if (!signalAnimationToDownload.isEmpty()) { + signalDownloading = true; + themeDownloading = true; + + params_memory.put("ThemeDownloadProgress", "Downloading..."); + + downloadThemeAsset(signalAnimationToDownload, "SignalToDownload", "DownloadableSignals", params, params_memory); + downloadStatusLabel->setText("Downloading..."); + } + } + } else if (id == 2) { + signalAnimations.append("None"); + signalAnimations.sort(); + QString signalAnimationToSelect = MultiOptionDialog::getSelection(tr("Select a signal animation"), signalAnimations, getThemeName("CustomSignals", params), this); + if (!signalAnimationToSelect.isEmpty()) { + manageCustomSignalsBtn->setValue(storeThemeName(signalAnimationToSelect, "CustomSignals", params)); + } + } + }); + manageCustomSignalsBtn->setValue(getThemeName(param.toStdString(), params)); + themeToggle = manageCustomSignalsBtn; + } else if (param == "CustomSounds") { + manageCustomSoundsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + QObject::connect(manageCustomSoundsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList soundPacks = getThemeList(QDir(themePacksDirectory.path()), "sounds", "CustomSounds", params); + + if (id == 0) { + QString soundPackToDelete = MultiOptionDialog::getSelection(tr("Select a sound pack to delete"), soundPacks, "", this); + if (!soundPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' sound pack?").arg(soundPackToDelete), tr("Delete"), this)) { + soundsDownloaded = false; + + deleteThemeAsset(themePacksDirectory, "sounds", "DownloadableSounds", soundPackToDelete, params); + } + } else if (id == 1) { + if (soundDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelThemeDownload", true); + + updateAssetParam("DownloadableSounds", params, colorSchemeToDownload, true); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + soundDownloading = false; + themeDownloading = false; + + params_memory.putBool("CancelThemeDownload", false); + }); + } else { + QStringList downloadableSoundPacks = QString::fromStdString(params.get("DownloadableSounds")).split(","); + soundPackToDownload = MultiOptionDialog::getSelection(tr("Select a sound pack to download"), downloadableSoundPacks, "", this); + if (!soundPackToDownload.isEmpty()) { + soundDownloading = true; + themeDownloading = true; + + params_memory.put("ThemeDownloadProgress", "Downloading..."); + + downloadThemeAsset(soundPackToDownload, "SoundToDownload", "DownloadableSounds", params, params_memory); + downloadStatusLabel->setText("Downloading..."); + } + } + } else if (id == 2) { + soundPacks.append("Stock"); + soundPacks.sort(); + QString soundPackToSelect = MultiOptionDialog::getSelection(tr("Select a sound pack"), soundPacks, getThemeName("CustomSounds", params), this); + if (!soundPackToSelect.isEmpty()) { + manageCustomSoundsBtn->setValue(storeThemeName(soundPackToSelect, "CustomSounds", params)); + } + } + }); + manageCustomSoundsBtn->setValue(getThemeName(param.toStdString(), params)); + themeToggle = manageCustomSoundsBtn; + } else if (param == "WheelIcon") { + manageWheelIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); + QObject::connect(manageWheelIconsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + QStringList wheelIcons = getThemeList(QDir(wheelsDirectory.path()), "", "WheelIcon", params); + + if (id == 0) { + QString wheelIconToDelete = MultiOptionDialog::getSelection(tr("Select a steering wheel to delete"), wheelIcons, "", this); + if (!wheelIconToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' steering wheel?").arg(wheelIconToDelete), tr("Delete"), this)) { + wheelsDownloaded = false; + + deleteThemeAsset(wheelsDirectory, "", "DownloadableWheels", wheelIconToDelete, params); + } + } else if (id == 1) { + if (wheelDownloading) { + cancellingDownload = true; + + params_memory.putBool("CancelThemeDownload", true); + + updateAssetParam("DownloadableWheels", params, colorSchemeToDownload, true); + + QTimer::singleShot(2500, [this]() { + cancellingDownload = false; + wheelDownloading = false; + themeDownloading = false; + + params_memory.putBool("CancelThemeDownload", false); + }); + } else { + QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(","); + wheelToDownload = MultiOptionDialog::getSelection(tr("Select a steering wheel to download"), downloadableWheels, "", this); + if (!wheelToDownload.isEmpty()) { + wheelDownloading = true; + themeDownloading = true; + + params_memory.put("ThemeDownloadProgress", "Downloading..."); + + downloadThemeAsset(wheelToDownload, "WheelToDownload", "DownloadableWheels", params, params_memory); + downloadStatusLabel->setText("Downloading..."); + } + } + } else if (id == 2) { + wheelIcons.append("None"); + wheelIcons.append("Stock"); + wheelIcons.sort(); + QString steeringWheelToSelect = MultiOptionDialog::getSelection(tr("Select a steering wheel"), wheelIcons, getThemeName("WheelIcon", params), this); + if (!steeringWheelToSelect.isEmpty()) { + manageWheelIconsBtn->setValue(storeThemeName(steeringWheelToSelect, "WheelIcon", params)); + } + } + }); + manageWheelIconsBtn->setValue(getThemeName(param.toStdString(), params)); + themeToggle = manageWheelIconsBtn; + } else if (param == "DownloadStatusLabel") { + downloadStatusLabel = new LabelControl(title, "Idle"); + themeToggle = downloadStatusLabel; + } else if (param == "StartupAlert") { + FrogPilotButtonsControl *startupAlertButton = new FrogPilotButtonsControl(title, desc, {tr("STOCK"), tr("FROGPILOT"), tr("CUSTOM"), tr("CLEAR")}, false, true, icon); + QObject::connect(startupAlertButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) { + int maxLengthTop = 35; + int maxLengthBottom = 45; + + QString stockTop = "Be ready to take over at any time"; + QString stockBottom = "Always keep hands on wheel and eyes on road"; + + QString frogpilotTop = "Hop in and buckle up!"; + QString frogpilotBottom = "Human-tested, frog-approved 🐸"; + + QString currentTop = QString::fromStdString(params.get("StartupMessageTop")); + QString currentBottom = QString::fromStdString(params.get("StartupMessageBottom")); + + if (id == 0) { + params.put("StartupMessageTop", stockTop.toStdString()); + params.put("StartupMessageBottom", stockBottom.toStdString()); + } else if (id == 1) { + params.put("StartupMessageTop", frogpilotTop.toStdString()); + params.put("StartupMessageBottom", frogpilotBottom.toStdString()); + } else if (id == 2) { + QString newTop = InputDialog::getText(tr("Enter the text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed(); + if (newTop.length() > 0) { + params.put("StartupMessageTop", newTop.toStdString()); + QString newBottom = InputDialog::getText(tr("Enter the text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed(); + if (newBottom.length() > 0) { + params.put("StartupMessageBottom", newBottom.toStdString()); + } + } + } else if (id == 3) { + params.remove("StartupMessageTop"); + params.remove("StartupMessageBottom"); + } + }); + themeToggle = startupAlertButton; + + } else { + themeToggle = new ParamControl(param, title, desc, icon); + } + + addItem(themeToggle); + toggles[param] = themeToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(themeToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotThemesPanel::openParentToggle); + } + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotThemesPanel::hideToggles); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotThemesPanel::updateState); +} + +void FrogPilotThemesPanel::showEvent(QShowEvent *event) { + colorsDownloaded = params.get("DownloadableColors").empty(); + distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty(); + iconsDownloaded = params.get("DownloadableIcons").empty(); + signalsDownloaded = params.get("DownloadableSignals").empty(); + soundsDownloaded = params.get("DownloadableSounds").empty(); + wheelsDownloaded = params.get("DownloadableWheels").empty(); + + frogpilotToggleLevels = parent->frogpilotToggleLevels; + tuningLevel = parent->tuningLevel; + + hideToggles(); +} + +void FrogPilotThemesPanel::updateState(const UIState &s) { + if (!isVisible() || finalizingDownload) { + return; + } + + if (themeDownloading) { + QString progress = QString::fromStdString(params_memory.get("ThemeDownloadProgress")); + bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); + + if (progress != "Downloading...") { + downloadStatusLabel->setText(progress); + } + + if (progress == "Downloaded!" || downloadFailed) { + finalizingDownload = true; + + QTimer::singleShot(2500, [this]() { + colorDownloading = false; + distanceIconDownloading = false; + finalizingDownload = false; + iconDownloading = false; + signalDownloading = false; + soundDownloading = false; + themeDownloading = false; + wheelDownloading = false; + + colorsDownloaded = params.get("DownloadableColors").empty(); + distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty(); + iconsDownloaded = params.get("DownloadableIcons").empty(); + signalsDownloaded = params.get("DownloadableSignals").empty(); + soundsDownloaded = params.get("DownloadableSounds").empty(); + wheelsDownloaded = params.get("DownloadableWheels").empty(); + + params_memory.remove("CancelThemeDownload"); + params_memory.remove("ColorToDownload"); + params_memory.remove("DistanceIconToDownload"); + params_memory.remove("IconToDownload"); + params_memory.remove("SignalToDownload"); + params_memory.remove("SoundToDownload"); + params_memory.remove("ThemeDownloadProgress"); + params_memory.remove("WheelToDownload"); + + downloadStatusLabel->setText("Idle"); + }); + } + } + + bool parked = !s.scene.started || s.scene.parked || s.scene.frogs_go_moo; + + manageCustomColorsBtn->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomColorsBtn->setEnabledButtons(0, !themeDownloading); + manageCustomColorsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !colorsDownloaded && parked); + manageCustomColorsBtn->setEnabledButtons(2, !themeDownloading); + + manageCustomIconsBtn->setText(1, iconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomIconsBtn->setEnabledButtons(0, !themeDownloading); + manageCustomIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || iconDownloading) && !cancellingDownload && !iconsDownloaded && parked); + manageCustomIconsBtn->setEnabledButtons(2, !themeDownloading); + + manageCustomSignalsBtn->setText(1, signalDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomSignalsBtn->setEnabledButtons(0, !themeDownloading); + manageCustomSignalsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || signalDownloading) && !cancellingDownload && !signalsDownloaded && parked); + manageCustomSignalsBtn->setEnabledButtons(2, !themeDownloading); + + manageCustomSoundsBtn->setText(1, soundDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageCustomSoundsBtn->setEnabledButtons(0, !themeDownloading); + manageCustomSoundsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || soundDownloading) && !cancellingDownload && !soundsDownloaded && parked); + manageCustomSoundsBtn->setEnabledButtons(2, !themeDownloading); + + manageDistanceIconsBtn->setText(1, distanceIconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageDistanceIconsBtn->setEnabledButtons(0, !themeDownloading); + manageDistanceIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || distanceIconDownloading) && !cancellingDownload && !distanceIconsDownloaded && parked); + manageDistanceIconsBtn->setEnabledButtons(2, !themeDownloading); + + manageWheelIconsBtn->setText(1, wheelDownloading ? tr("CANCEL") : tr("DOWNLOAD")); + manageWheelIconsBtn->setEnabledButtons(0, !themeDownloading); + manageWheelIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || wheelDownloading) && !cancellingDownload && !wheelsDownloaded && parked); + manageWheelIconsBtn->setEnabledButtons(2, !themeDownloading); + + parent->keepScreenOn = themeDownloading; +} + +void FrogPilotThemesPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotThemesPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = customThemeKeys.find(key) != customThemeKeys.end(); + + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h new file mode 100644 index 000000000..f9a72f872 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h @@ -0,0 +1,71 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotThemesPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotThemesPanel(FrogPilotSettingsWindow *parent); + +protected: + void showEvent(QShowEvent *event) override; + +signals: + void openParentToggle(); + +private: + void hideToggles(); + void showToggles(const std::set &keys); + void updateState(const UIState &s); + + bool cancellingDownload; + bool colorDownloading; + bool colorsDownloaded; + bool distanceIconDownloading; + bool distanceIconsDownloaded; + bool finalizingDownload; + bool iconDownloading; + bool iconsDownloaded; + bool signalDownloading; + bool signalsDownloaded; + bool soundDownloading; + bool soundsDownloaded; + bool themeDownloading; + bool wheelDownloading; + bool wheelsDownloaded; + + int tuningLevel; + + std::map toggles; + + std::set customThemeKeys = {"CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"}; + + FrogPilotButtonsControl *manageCustomColorsBtn; + FrogPilotButtonsControl *manageCustomIconsBtn; + FrogPilotButtonsControl *manageCustomSignalsBtn; + FrogPilotButtonsControl *manageCustomSoundsBtn; + FrogPilotButtonsControl *manageDistanceIconsBtn; + FrogPilotButtonsControl *manageWheelIconsBtn; + + FrogPilotSettingsWindow *parent; + + LabelControl *downloadStatusLabel; + + QDir themePacksDirectory{"/data/themes/theme_packs/"}; + QDir wheelsDirectory{"/data/themes/steering_wheels/"}; + + QJsonObject frogpilotToggleLevels; + + QString colorSchemeToDownload; + QString distanceIconPackToDownload; + QString iconPackToDownload; + QString signalAnimationToDownload; + QString soundPackToDownload; + QString wheelToDownload; + + Params params; + Params params_memory{"/dev/shm/params"}; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.cc b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc new file mode 100644 index 000000000..144b5c0af --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc @@ -0,0 +1,100 @@ +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/utilities.h" + +FrogPilotUtilitiesPanel::FrogPilotUtilitiesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + ButtonControl *flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Flashes the Panda device's firmware if you're running into issues.")); + QObject::connect(flashPandaBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) { + std::thread([=]() { + parent->keepScreenOn = true; + + flashPandaBtn->setEnabled(false); + flashPandaBtn->setValue(tr("Flashing...")); + + params_memory.putBool("FlashPanda", true); + while (params_memory.getBool("FlashPanda")) { + util::sleep_for(UI_FREQ); + } + + flashPandaBtn->setValue(tr("Flashed!")); + util::sleep_for(2500); + flashPandaBtn->setValue(tr("Rebooting...")); + util::sleep_for(2500); + Hardware::reboot(); + }).detach(); + } + }); + addItem(flashPandaBtn); + + FrogPilotButtonsControl *forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Forces openpilot either offroad or onroad."), {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, true); + QObject::connect(forceStartedBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { + if (id == 0) { + params_memory.putBool("ForceOffroad", true); + params_memory.putBool("ForceOnroad", false); + } else if (id == 1) { + params_memory.putBool("ForceOffroad", false); + params_memory.putBool("ForceOnroad", true); + + util::sleep_for(1000); + params.put("CarParams", params.get("CarParamsPersistent")); + } else if (id == 2) { + params_memory.putBool("ForceOffroad", false); + params_memory.putBool("ForceOnroad", false); + } + forceStartedBtn->setCheckedButton(id); + }); + forceStartedBtn->setCheckedButton(2); + addItem(forceStartedBtn); + + ButtonControl *reportIssueBtn = new ButtonControl(tr("Report a Bug or an Issue"), tr("REPORT"), tr("Let 'FrogsGoMoo' know about an issue you're facing.")); + QObject::connect(reportIssueBtn, &ButtonControl::clicked, [this]() { + QStringList report_messages = { + "I saw an alert that said 'openpilot crashed'", + "I'm noticing harsh acceleration", + "I'm noticing harsh braking", + "I'm noticing unusual steering", + "My car isn't staying in its lane", + "Something else" + }; + + QString selected_issue = MultiOptionDialog::getSelection(tr("What's going on?"), report_messages, "", this); + if (selected_issue.isEmpty()) { + return; + } else if (selected_issue == "Something else") { + selected_issue = InputDialog::getText(tr("Please describe what's happening"), this, tr("Send Report"), false, 10, "", 100).trimmed(); + } + + QJsonObject reportData; + reportData["Issue"] = selected_issue; + reportData["DiscordUser"] = InputDialog::getText(tr("What's your Discord username?"), this, tr("Send Report"), false, -1, QString::fromStdString(params.get("DiscordUsername"))).trimmed(); + params.putNonBlocking("DiscordUsername", reportData["DiscordUser"].toString().toStdString()); + params_memory.put("IssueReported", QJsonDocument(reportData).toJson(QJsonDocument::Compact).toStdString()); + + FrogPilotConfirmationDialog::toggleAlert(tr("Thanks for letting us know! Your report has been submitted."), tr("Ok"), this); + }); + addItem(reportIssueBtn); + + ButtonControl *resetTogglesBtn = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("Reset your toggle settings back to their default settings.")); + QObject::connect(resetTogglesBtn, &ButtonControl::clicked, [=]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to completely reset all of your toggle settings?"), tr("Reset"), this)) { + std::thread([=]() mutable { + parent->keepScreenOn = true; + + resetTogglesBtn->setEnabled(false); + resetTogglesBtn->setValue(tr("Resetting...")); + + params.putBool("DoToggleReset", true); + + resetTogglesBtn->setValue(tr("Reset!")); + + util::sleep_for(2500); + resetTogglesBtn->setValue(tr("Rebooting...")); + util::sleep_for(2500); + + Hardware::reboot(); + }).detach(); + } + }); + addItem(resetTogglesBtn); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.h b/selfdrive/frogpilot/ui/qt/offroad/utilities.h new file mode 100644 index 000000000..cce68517f --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/utilities.h @@ -0,0 +1,16 @@ +#pragma once + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotUtilitiesPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotUtilitiesPanel(FrogPilotSettingsWindow *parent); + +private: + FrogPilotSettingsWindow *parent; + + Params params; + Params params_memory{"/dev/shm/params"}; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc new file mode 100644 index 000000000..0b9a2e340 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc @@ -0,0 +1,313 @@ +#include +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" + +QStringList getCarNames(const QString &carMake, QMap &carModels) { + static const QMap makeMap = { + {"acura", "honda"}, + {"audi", "volkswagen"}, + {"buick", "gm"}, + {"cadillac", "gm"}, + {"chevrolet", "gm"}, + {"chrysler", "chrysler"}, + {"cupra", "volkswagen"}, + {"dodge", "chrysler"}, + {"ford", "ford"}, + {"genesis", "hyundai"}, + {"gmc", "gm"}, + {"holden", "gm"}, + {"honda", "honda"}, + {"hyundai", "hyundai"}, + {"jeep", "chrysler"}, + {"kia", "hyundai"}, + {"lexus", "toyota"}, + {"lincoln", "ford"}, + {"man", "volkswagen"}, + {"mazda", "mazda"}, + {"nissan", "nissan"}, + {"ram", "chrysler"}, + {"seat", "volkswagen"}, + {"škoda", "volkswagen"}, + {"subaru", "subaru"}, + {"tesla", "tesla"}, + {"toyota", "toyota"}, + {"volkswagen", "volkswagen"} + }; + + QStringList carNameList; + QSet uniqueCarNames; + + QString filePath = QString("../car/%1/values.py").arg(makeMap.value(carMake, carMake)); + QFile valuesFile(filePath); + if (!valuesFile.open(QIODevice::ReadOnly | QIODevice::Text)) { + return carNameList; + } + + QTextStream in(&valuesFile); + QString fileContent = in.readAll(); + valuesFile.close(); + + fileContent.remove(QRegularExpression("#[^\n]*")); + fileContent.remove(QRegularExpression("footnotes=\\[[^\\]]*\\],\\s*")); + + static const QRegularExpression carNameRegex("CarDocs\\(\\s*\"([^\"]+)\"[^)]*\\)"); + static const QRegularExpression platformRegex("((\\w+)\\s*=\\s*\\w+\\s*\\(\\s*\\[([\\s\\S]*?)\\]\\s*,)"); + static const QRegularExpression validNameRegex("^[A-Za-z0-9 \u0160.()-]+$"); + + QRegularExpressionMatchIterator platformMatches = platformRegex.globalMatch(fileContent); + while (platformMatches.hasNext()) { + QRegularExpressionMatch platformMatch = platformMatches.next(); + QString platformName = platformMatch.captured(2); + QString platformSection = platformMatch.captured(3); + + QRegularExpressionMatchIterator carNameMatches = carNameRegex.globalMatch(platformSection); + while (carNameMatches.hasNext()) { + QString carName = carNameMatches.next().captured(1); + if (carName.contains(validNameRegex) && carName.count(" ") >= 1) { + QStringList carNameParts = carName.split(" "); + for (const QString &part : carNameParts) { + if (part.compare(carMake, Qt::CaseInsensitive) == 0) { + if (!uniqueCarNames.contains(carName)) { + uniqueCarNames.insert(carName); + carNameList.append(carName); + carModels[carName] = platformName; + } + break; + } + } + } + } + } + + carNameList.sort(); + return carNameList; +} + +FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + QVBoxLayout *mainLayout = new QVBoxLayout(); + addItem(mainLayout); + + vehiclesLayout = new QStackedLayout(); + mainLayout->addLayout(vehiclesLayout); + + FrogPilotListWidget *settingsList = new FrogPilotListWidget(this); + + QStringList makes = { + "Acura", "Audi", "Buick", "Cadillac", "Chevrolet", "Chrysler", + "CUPRA", "Dodge", "Ford", "Genesis", "GMC", "Holden", "Honda", + "Hyundai", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda", + "Nissan", "Ram", "SEAT", "Škoda", "Subaru", "Tesla", "Toyota", + "Volkswagen" + }; + + ButtonControl *selectMakeButton = new ButtonControl(tr("Select Make"), tr("SELECT")); + QObject::connect(selectMakeButton, &ButtonControl::clicked, [this, makes, selectMakeButton]() { + QString makeSelection = MultiOptionDialog::getSelection(tr("Select a Make"), makes, "", this); + if (!makeSelection.isEmpty()) { + params.put("CarMake", makeSelection.toStdString()); + selectMakeButton->setValue(makeSelection); + } + }); + settingsList->addItem(selectMakeButton); + + ButtonControl *selectModelButton = new ButtonControl(tr("Select Model"), tr("SELECT")); + QObject::connect(selectModelButton, &ButtonControl::clicked, [this, selectModelButton]() { + QString modelSelection = MultiOptionDialog::getSelection(tr("Select a Model"), getCarNames(QString::fromStdString(params.get("CarMake")).toLower(), carModels), "", this); + if (!modelSelection.isEmpty()) { + params.put("CarModel", carModels.value(modelSelection).toStdString()); + params.put("CarModelName", modelSelection.toStdString()); + selectModelButton->setValue(modelSelection); + } + }); + settingsList->addItem(selectModelButton); + + ParamControl *forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), ""); + settingsList->addItem(forceFingerprint); + + disableOpenpilotLong = new ParamControl("DisableOpenpilotLongitudinal", tr("Disable openpilot Longitudinal Control"), tr("Disables openpilot longitudinal control and uses the car's stock ACC instead."), ""); + QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [this, parent](bool state) { + if (state) { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely disable openpilot longitudinal control?"), this)) { + if (started) { + if (FrogPilotConfirmationDialog::toggleReboot(this)) { + Hardware::reboot(); + } + } + } else { + params.putBool("DisableOpenpilotLongitudinal", false); + disableOpenpilotLong->refresh(); + } + } + + parent->updateVariables(); + updateToggles(); + }); + settingsList->addItem(disableOpenpilotLong); + + FrogPilotListWidget *gmList = new FrogPilotListWidget(this); + FrogPilotListWidget *hkgList = new FrogPilotListWidget(this); + FrogPilotListWidget *toyotaList = new FrogPilotListWidget(this); + + std::vector> vehicleToggles { + {"GMToggles", tr("General Motors Toggles"), tr("Toggles catered towards 'General Motors' vehicles."), ""}, + {"NewLongAPIGM", tr("Enable comma's New Longitudinal API"), tr("Enable comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has issues on some GM vehicles."), ""}, + {"ExperimentalGMTune", tr("Enable FrogsGoMoo's Experimental Longitudinal Tune"), tr("Enable FrogsGoMoo's experimental GM longitudinal tune that is based on nothing but guesswork. Use at your own risk!"), ""}, + {"VoltSNG", tr("Enable Stop and Go Hack"), tr("Force stop and go for the 2017 Chevy Volt."), ""}, + {"LongPitch", tr("Smoothen Pedal Response While Going Downhill/Uphill"), tr("Smoothen the gas and brake response when driving downhill or uphill."), ""}, + + {"HKGToggles", tr("Hyundai/Kia/Genesis Toggles"), tr("Toggles catered towards 'Hyundai/Kia/Genesis' vehicles."), ""}, + {"NewLongAPI", tr("Enable comma's New Longitudinal API"), tr("Enable comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has issues on some Hyundai/Kia/Genesis vehicles."), ""}, + + {"ToyotaToggles", tr("Toyota/Lexus Toggles"), tr("Toggles catered towards 'Toyota/Lexus' vehicles."), ""}, + {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically lock the doors when in drive and unlock when in park."), ""}, + {"ClusterOffset", tr("Cluster Speed Offset"), tr("Set the cluster offset openpilot uses to try and match the speed displayed on the dash."), ""}, + {"FrogsGoMoosTweak", tr("Enable FrogsGoMoo's Personal Tweaks"), tr("FrogsGoMoo's personal tweaks that aim to take off faster and stop smoother."), ""}, + {"SNGHack", tr("Enable Stop and Go Hack"), tr("Force stop and go for vehicles without stock stop and go functionality."), ""}, + }; + + for (const auto &[param, title, desc, icon] : vehicleToggles) { + AbstractControl *vehicleToggle; + + if (param == "GMToggles") { + ButtonControl *gmToggle = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(gmToggle, &ButtonControl::clicked, [this]() { + vehiclesLayout->setCurrentIndex(1); + openParentToggle(); + }); + vehicleToggle = gmToggle; + + } else if (param == "HKGToggles") { + ButtonControl *hkgToggle = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(hkgToggle, &ButtonControl::clicked, [this]() { + vehiclesLayout->setCurrentIndex(2); + openParentToggle(); + }); + vehicleToggle = hkgToggle; + + } else if (param == "ToyotaToggles") { + ButtonControl *toyotaToggle = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(toyotaToggle, &ButtonControl::clicked, [this]() { + vehiclesLayout->setCurrentIndex(3); + openParentToggle(); + }); + vehicleToggle = toyotaToggle; + } else if (param == "ToyotaDoors") { + std::vector lockToggles{"LockDoors", "UnlockDoors"}; + std::vector lockToggleNames{tr("Lock"), tr("Unlock")}; + vehicleToggle = new FrogPilotButtonToggleControl(param, title, desc, lockToggles, lockToggleNames); + } else if (param == "ClusterOffset") { + std::vector clusterOffsetButton{"Reset"}; + FrogPilotParamValueButtonControl *clusterOffsetToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 1.000, 1.050, "x", std::map(), 0.001, {}, clusterOffsetButton, false, false); + QObject::connect(clusterOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this, clusterOffsetToggle]() { + params.putFloat("ClusterOffset", params_default.getFloat("ClusterOffset")); + clusterOffsetToggle->refresh(); + }); + vehicleToggle = clusterOffsetToggle; + + } else { + vehicleToggle = new ParamControl(param, title, desc, icon); + } + + toggles[param] = vehicleToggle; + + if (gmKeys.find(param) != gmKeys.end()) { + gmList->addItem(vehicleToggle); + } else if (hkgKeys.find(param) != hkgKeys.end()) { + hkgList->addItem(vehicleToggle); + } else if (toyotaKeys.find(param) != toyotaKeys.end()) { + toyotaList->addItem(vehicleToggle); + } else { + settingsList->addItem(vehicleToggle); + } + } + + ScrollView *settingsPanel = new ScrollView(settingsList, this); + vehiclesLayout->addWidget(settingsPanel); + + ScrollView *gmPanel = new ScrollView(gmList, this); + vehiclesLayout->addWidget(gmPanel); + ScrollView *hkgPanel = new ScrollView(hkgList, this); + vehiclesLayout->addWidget(hkgPanel); + ScrollView *toyotaPanel = new ScrollView(toyotaList, this); + vehiclesLayout->addWidget(toyotaPanel); + + std::set rebootKeys = {"NewLongAPI", "NewLongAPIGM"}; + for (const QString &key : rebootKeys) { + QObject::connect(static_cast(toggles[key]), &ToggleControl::toggleFlipped, [this]() { + if (started) { + if (FrogPilotConfirmationDialog::toggleReboot(this)) { + Hardware::reboot(); + } + } + }); + } + + QObject::connect(uiState(), &UIState::offroadTransition, [this, selectMakeButton, selectModelButton]() { + std::thread([this, selectMakeButton, selectModelButton]() { + selectMakeButton->setValue(QString::fromStdString(params.get("CarMake", true))); + selectModelButton->setValue(QString::fromStdString(params.get(params.get("CarModelName").empty() ? "CarModel" : "CarModelName"))); + }).detach(); + }); + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, [this] {vehiclesLayout->setCurrentIndex(0);}); + QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState); +} + +void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) { + updateToggles(); +} + +void FrogPilotVehiclesPanel::updateState(const UIState &s) { + if (!isVisible()) { + return; + } + + started = s.scene.started; +} + +void FrogPilotVehiclesPanel::updateToggles() { + toggles["GMToggles"]->setVisible(false); + toggles["HKGToggles"]->setVisible(false); + toggles["ToyotaToggles"]->setVisible(false); + + for (auto &[key, toggle] : toggles) { + bool setVisible = parent->tuningLevel >= parent->frogpilotToggleLevels[key].toDouble(); + + if (key == "GMToggles" || gmKeys.find(key) != gmKeys.end()) { + setVisible = parent->isGM; + } else if (key == "HKGToggles" || hkgKeys.find(key) != hkgKeys.end()) { + setVisible = parent->isHKG; + } else if (key == "ToyotaToggles" || toyotaKeys.find(key) != toyotaKeys.end()) { + setVisible = parent->isToyota; + } + + if (longitudinalKeys.find(key) != longitudinalKeys.end()) { + setVisible &= parent->hasOpenpilotLongitudinal; + } + + if (key == "SNGHack") { + setVisible &= !parent->hasSNG; + } + + if (key == "VoltSNG") { + setVisible &= parent->isVolt && !parent->hasSNG; + } + + toggle->setVisible(setVisible); + + if (gmKeys.find(key) != gmKeys.end() && setVisible) { + toggles["GMToggles"]->setVisible(true); + } + + if (hkgKeys.find(key) != hkgKeys.end() && setVisible) { + toggles["HKGToggles"]->setVisible(true); + } + + if (toyotaKeys.find(key) != toyotaKeys.end() && setVisible) { + toggles["ToyotaToggles"]->setVisible(true); + } + } + + disableOpenpilotLong->setVisible((parent->hasOpenpilotLongitudinal || params.getBool("DisableOpenpilotLongitudinal")) && !parent->hasExperimentalOpenpilotLongitudinal); +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h new file mode 100644 index 000000000..70bebeac6 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h @@ -0,0 +1,40 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotVehiclesPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + +private: + void showEvent(QShowEvent *event) override; + void updateState(const UIState &s); + void updateToggles(); + + bool started; + + std::map toggles; + + std::set gmKeys = {"ExperimentalGMTune", "LongPitch", "NewLongAPIGM", "VoltSNG"}; + std::set hkgKeys = {"NewLongAPI"}; + std::set longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "NewLongAPIGM", "SNGHack", "VoltSNG"}; + std::set toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "SNGHack", "ToyotaDoors"}; + + FrogPilotSettingsWindow *parent; + + QMap carModels; + + QStackedLayout *vehiclesLayout; + + ParamControl *disableOpenpilotLong; + + Params params; + Params params_default{"/dev/shm/params_default"}; +}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc new file mode 100644 index 000000000..f24003464 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc @@ -0,0 +1,382 @@ +#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" + +FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { + const std::vector> visualToggles { + {"QOLVisuals", tr("Accessibility"), tr("Visual features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/icon_accessibility.png"}, + {"CameraView", tr("Camera View"), tr("Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives."), ""}, + {"OnroadDistanceButton", tr("On Screen Personality Button"), tr("Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode."), ""}, + {"DriverCamera", tr("Show Driver Camera When In Reverse"), tr("Displays the driver camera feed when the vehicle is in reverse."), ""}, + {"StandbyMode", tr("Standby Mode"), tr("Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur."), ""}, + {"StoppedTimer", tr("Stopped Timer"), tr("Activates a timer when stopped to indicate how long the vehicle has been stopped for."), ""}, + + {"AdvancedCustomUI", tr("Advanced UI Controls"), tr("Advanced features to fine tune your personalized UI."), "../frogpilot/assets/toggle_icons/icon_advanced_device.png"}, + {"HideSpeed", tr("Hide Current Speed"), tr("Hides the current speed."), ""}, + {"HideLeadMarker", tr("Hide Lead Marker"), tr("Hides the marker for the vehicle ahead."), ""}, + {"HideMapIcon", tr("Hide Map Icon"), tr("Hides the map icon."), ""}, + {"HideMaxSpeed", tr("Hide Max Speed"), tr("Hides the max speed."), ""}, + {"HideAlerts", tr("Hide Non-Critical Alerts"), tr("Hides non-critical alerts."), ""}, + {"HideSpeedLimit", tr("Hide Speed Limits"), tr("Hides the speed limits."), ""}, + {"WheelSpeed", tr("Use Wheel Speed"), tr("Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives."), ""}, + + {"DeveloperUI", tr("Developer UI"), tr("Show detailed information about openpilot's internal operations."), "../assets/offroad/icon_shell.png"}, + {"DeveloperMetrics", tr("Developer Metrics"), tr("Show detailed information about openpilot's internal operations."), ""}, + {"BorderMetrics", tr("Border Metrics"), tr("Displays performance metrics around the edge of the screen while driving."), ""}, + {"FPSCounter", tr("FPS Display"), tr("Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving."), ""}, + {"LateralMetrics", tr("Lateral Metrics"), tr("Displays metrics related to steering control at the top of the screen while driving."), ""}, + {"LongitudinalMetrics", tr("Longitudinal Metrics"), tr("Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving."), ""}, + {"NumericalTemp", tr("Numerical Temperature Gauge"), tr("Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar."), ""}, + {"SidebarMetrics", tr("Sidebar"), tr("Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar."), ""}, + {"UseSI", tr("Use International System of Units"), tr("Displays measurements using the 'International System of Units' (SI)."), ""}, + {"DeveloperWidgets", tr("Developer Widgets"), tr("Show detailed information about openpilot's internal operations."), ""}, + {"ShowCEMStatus", tr("'Conditional Experimental Mode' Status"), tr("Show 'Conditional Experimental Mode''s current status in the onroad UI."), ""}, + {"ShowStoppingPoint", tr("Model Stopping Point"), tr("Displays an image on the screen where openpilot is wanting to stop."), ""}, + + {"ModelUI", tr("Model UI"), tr("Customize the model visualizations on the screen."), "../frogpilot/assets/toggle_icons/icon_vtc.png"}, + {"DynamicPathWidth", tr("Dynamic Path Width"), tr("Automatically adjusts the width of the driving path display based on the current engagement state:\n\nFully engaged = 100%\nAlways On Lateral Active = 75%\nFully disengaged = 50%"), ""}, + {"LaneLinesWidth", tr("Lane Lines Width"), tr("Controls the thickness the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."), ""}, + {"PathEdgeWidth", tr("Path Edges Width"), tr("Controls the width of the edges of the driving path to represent different modes and statuses.\n\nDefault is 20% of the total path width.\n\nColor Guide:\n\n- Blue: Navigation\n- Light Blue: 'Always On Lateral'\n- Green: Default\n- Orange: 'Experimental Mode'\n- Red: 'Traffic Mode'\n- Yellow: 'Conditional Experimental Mode' Overridden"), ""}, + {"PathWidth", tr("Path Width"), tr("Controls how wide the driving path appears on your screen.\n\nDefault (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350."), ""}, + {"RoadEdgesWidth", tr("Road Edges Width"), tr("Controls how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard lane line width of 4 inches."), ""}, + {"UnlimitedLength", tr("'Unlimited' Road UI"), tr("Extends the display of the path, lane lines, and road edges as far as the model can see."), ""}, + + {"NavigationUI", tr("Navigation Widgets"), tr("Wwidgets focused around navigation."), "../frogpilot/assets/toggle_icons/icon_map.png"}, + {"BigMap", tr("Larger Map Display"), tr("Increases the size of the map for easier navigation readings."), ""}, + {"MapStyle", tr("Map Style"), tr("Swaps out the stock map style for community created ones."), ""}, + {"RoadNameUI", tr("Road Name"), tr("Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'."), ""}, + {"ShowSpeedLimits", tr("Show Speed Limits"), tr("Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'."), ""}, + {"UseVienna", tr("Use Vienna-Style Speed Signs"), tr("Forces Vienna-style (EU) speed limit signs instead of MUTCD (US)."), ""}, + + {"CustomUI", tr("Onroad Screen Widgets"), tr("Custom FrogPilot widgets used in the onroad user interface."), "../assets/offroad/icon_road.png"}, + {"AccelerationPath", tr("Acceleration Path"), tr("Projects a path based on openpilot's current desired acceleration or deceleration."), ""}, + {"AdjacentPath", tr("Adjacent Lanes"), tr("Projects paths for the adjascent lanes."), ""}, + {"BlindSpotPath", tr("Blind Spot Path"), tr("Projects a red path when vehicles are detected in the blind spot for the respective lane."), ""}, + {"Compass", tr("Compass"), tr("Displays a compass to show the current driving direction."), ""}, + {"PedalsOnUI", tr("Gas / Brake Pedal Indicators"), tr("Displays pedal indicators to indicate when either of the pedals are currently being used."), ""}, + {"RotatingWheel", tr("Rotating Steering Wheel"), tr("Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements."), ""} + }; + + for (const auto &[param, title, desc, icon] : visualToggles) { + AbstractControl *visualToggle; + + if (param == "QOLVisuals") { + FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedAccessibilityKeys = accessibilityKeys; + + if (!hasOpenpilotLongitudinal) { + modifiedAccessibilityKeys.erase("OnroadDistanceButton"); + } + + showToggles(modifiedAccessibilityKeys); + }); + visualToggle = qolToggle; + } else if (param == "CameraView") { + std::vector cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")}; + ButtonParamControl *preferredCamera = new ButtonParamControl(param, title, desc, icon, cameraOptions); + visualToggle = preferredCamera; + + } else if (param == "AdvancedCustomUI") { + FrogPilotParamManageControl *advancedCustomUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(advancedCustomUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedAdvancedCustomOnroadUIKeys = advancedCustomOnroadUIKeys; + + if (!hasOpenpilotLongitudinal) { + modifiedAdvancedCustomOnroadUIKeys.erase("HideLeadMarker"); + } + + showToggles(modifiedAdvancedCustomOnroadUIKeys); + }); + visualToggle = advancedCustomUIToggle; + + } else if (param == "DeveloperUI") { + FrogPilotParamManageControl *developerUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(developerUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedDeveloperUIKeys = developerUIKeys; + + if (!hasOpenpilotLongitudinal) { + modifiedDeveloperUIKeys.erase("DeveloperWidgets"); + } + + showToggles(modifiedDeveloperUIKeys); + }); + visualToggle = developerUIToggle; + } else if (param == "DeveloperMetrics") { + ButtonControl *developerMetricsToggle = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(developerMetricsToggle, &ButtonControl::clicked, [this]() { + developerUIOpen = true; + + openSubParentToggle(); + + borderMetricsBtn->setVisibleButton(0, hasBSM); + lateralMetricsBtn->setVisibleButton(1, hasAutoTune); + longitudinalMetricsBtn->setVisibleButton(0, hasRadar); + + std::set modifiedDeveloperMetricKeys = developerMetricKeys; + + if (!hasOpenpilotLongitudinal) { + modifiedDeveloperMetricKeys.erase("LongitudinalMetrics"); + } + + showToggles(modifiedDeveloperMetricKeys); + }); + visualToggle = developerMetricsToggle; + } else if (param == "BorderMetrics") { + std::vector borderToggles{"BlindSpotMetrics", "ShowSteering", "SignalMetrics"}; + std::vector borderToggleNames{tr("Blind Spot"), tr("Steering Torque"), tr("Turn Signal")}; + borderMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, borderToggles, borderToggleNames); + visualToggle = borderMetricsBtn; + } else if (param == "LateralMetrics") { + std::vector lateralToggles{"AdjacentPathMetrics", "TuningInfo"}; + std::vector lateralToggleNames{tr("Adjacent Path Metrics"), tr("Auto Tune")}; + lateralMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, lateralToggles, lateralToggleNames); + visualToggle = lateralMetricsBtn; + } else if (param == "LongitudinalMetrics") { + std::vector longitudinalToggles{"AdjacentLeadsUI", "LeadInfo", "JerkInfo"}; + std::vector longitudinalToggleNames{tr("Adjacent Leads"), tr("Lead Info"), tr("Jerk Values")}; + longitudinalMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, longitudinalToggles, longitudinalToggleNames); + visualToggle = longitudinalMetricsBtn; + } else if (param == "NumericalTemp") { + std::vector temperatureToggles{"Fahrenheit"}; + std::vector temperatureToggleNames{tr("Fahrenheit")}; + visualToggle = new FrogPilotButtonToggleControl(param, title, desc, temperatureToggles, temperatureToggleNames); + } else if (param == "SidebarMetrics") { + std::vector sidebarMetricsToggles{"ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed"}; + std::vector sidebarMetricsToggleNames{tr("CPU"), tr("GPU"), tr("IP"), tr("RAM"), tr("SSD Left"), tr("SSD Used")}; + FrogPilotButtonToggleControl *sidebarMetricsToggle = new FrogPilotButtonToggleControl(param, title, desc, sidebarMetricsToggles, sidebarMetricsToggleNames, false, false, 150); + QObject::connect(sidebarMetricsToggle, &FrogPilotButtonToggleControl::buttonClicked, [sidebarMetricsToggle, this](int index) { + if (index == 0) { + params.putBool("ShowGPU", false); + } else if (index == 1) { + params.putBool("ShowCPU", false); + } else if (index == 3) { + params.putBool("ShowStorageLeft", false); + params.putBool("ShowStorageUsed", false); + } else if (index == 4) { + params.putBool("ShowMemoryUsage", false); + params.putBool("ShowStorageUsed", false); + } else if (index == 5) { + params.putBool("ShowMemoryUsage", false); + params.putBool("ShowStorageLeft", false); + } + sidebarMetricsToggle->refresh(); + }); + visualToggle = sidebarMetricsToggle; + } else if (param == "DeveloperWidgets") { + ButtonControl *developerWidgetsToggle = new ButtonControl(title, tr("MANAGE"), desc); + QObject::connect(developerWidgetsToggle, &ButtonControl::clicked, [this]() { + developerUIOpen = true; + + openSubParentToggle(); + + std::set modifiedDeveloperWidgetKeys = developerWidgetKeys; + + if (!hasOpenpilotLongitudinal) { + modifiedDeveloperWidgetKeys.erase("ShowCEMStatus"); + modifiedDeveloperWidgetKeys.erase("ShowStoppingPoint"); + } + + if (!params.getBool("ConditionalExperimental")) { + modifiedDeveloperWidgetKeys.erase("ShowCEMStatus"); + } + + showToggles(modifiedDeveloperWidgetKeys); + }); + visualToggle = developerWidgetsToggle; + } else if (param == "ShowStoppingPoint") { + std::vector stoppingPointToggles{"ShowStoppingPointMetrics"}; + std::vector stoppingPointToggleNames{tr("Show Distance")}; + visualToggle = new FrogPilotButtonToggleControl(param, title, desc, stoppingPointToggles, stoppingPointToggleNames); + + } else if (param == "ModelUI") { + FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + showToggles(modelUIKeys); + }); + visualToggle = modelUIToggle; + } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") { + visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, tr(" inches")); + } else if (param == "PathEdgeWidth") { + visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, tr("%")); + } else if (param == "PathWidth") { + visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"), std::map(), 0.1); + + } else if (param == "NavigationUI") { + FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedNavigationUIKeys = navigationUIKeys; + + if (params.getBool("SpeedLimitController")) { + modifiedNavigationUIKeys.erase("ShowSpeedLimits"); + } + + showToggles(modifiedNavigationUIKeys); + }); + visualToggle = customUIToggle; + } else if (param == "BigMap") { + std::vector mapToggles{"FullMap"}; + std::vector mapToggleNames{tr("Full Map")}; + visualToggle = new FrogPilotButtonToggleControl(param, title, desc, mapToggles, mapToggleNames); + } else if (param == "MapStyle") { + QMap styleMap { + {0, tr("Stock")}, + {1, tr("Mapbox Streets")}, + {2, tr("Mapbox Outdoors")}, + {3, tr("Mapbox Light")}, + {4, tr("Mapbox Dark")}, + {5, tr("Mapbox Satellite")}, + {6, tr("Mapbox Satellite Streets")}, + {7, tr("Mapbox Navigation Day")}, + {8, tr("Mapbox Navigation Night")}, + {9, tr("Mapbox Traffic Night")}, + {10, tr("mike854's (Satellite hybrid)")} + }; + + ButtonControl *mapStyleButton = new ButtonControl(title, tr("SELECT"), desc); + QObject::connect(mapStyleButton, &ButtonControl::clicked, [this, mapStyleButton, styleMap]() { + QString selection = MultiOptionDialog::getSelection(tr("Select a map style"), styleMap.values(), "", this); + if (!selection.isEmpty()) { + int selectedStyle = styleMap.key(selection); + params.putInt("MapStyle", selectedStyle); + mapStyleButton->setValue(selection); + } + }); + int currentStyle = params.getInt("MapStyle"); + mapStyleButton->setValue(styleMap[currentStyle]); + + visualToggle = mapStyleButton; + + } else if (param == "CustomUI") { + FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); + QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { + std::set modifiedCustomOnroadUIKeys = customOnroadUIKeys; + + if (!hasBSM) { + modifiedCustomOnroadUIKeys.erase("BlindSpotPath"); + } + + if (!hasOpenpilotLongitudinal) { + modifiedCustomOnroadUIKeys.erase("AccelerationPath"); + modifiedCustomOnroadUIKeys.erase("PedalsOnUI"); + } + + showToggles(modifiedCustomOnroadUIKeys); + }); + visualToggle = customUIToggle; + } else if (param == "PedalsOnUI") { + std::vector pedalsToggles{"DynamicPedalsOnUI", "StaticPedalsOnUI"}; + std::vector pedalsToggleNames{tr("Dynamic"), tr("Static")}; + FrogPilotButtonToggleControl *pedalsToggle = new FrogPilotButtonToggleControl(param, title, desc, pedalsToggles, pedalsToggleNames, true); + QObject::connect(pedalsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) { + if (index == 0) { + params.putBool("StaticPedalsOnUI", false); + } else if (index == 1) { + params.putBool("DynamicPedalsOnUI", false); + } + }); + visualToggle = pedalsToggle; + + } else { + visualToggle = new ParamControl(param, title, desc, icon); + } + + addItem(visualToggle); + toggles[param] = visualToggle; + + if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(visualToggle)) { + QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotVisualsPanel::openParentToggle); + } + } + + QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotVisualsPanel::hideSubToggles); + QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric); +} + +void FrogPilotVisualsPanel::showEvent(QShowEvent *event) { + frogpilotToggleLevels = parent->frogpilotToggleLevels; + hasAutoTune = parent->hasAutoTune; + hasBSM = parent->hasBSM; + hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; + hasRadar = parent->hasRadar; + tuningLevel = parent->tuningLevel; + + hideToggles(); +} + +void FrogPilotVisualsPanel::updateMetric(bool metric, bool bootRun) { + static bool previousMetric; + if (metric != previousMetric && !bootRun) { + double smallDistanceConversion = metric ? INCH_TO_CM : CM_TO_INCH; + double distanceConversion = metric ? FOOT_TO_METER : METER_TO_FOOT; + + params.putFloatNonBlocking("LaneLinesWidth", params.getFloat("LaneLinesWidth") * smallDistanceConversion); + params.putFloatNonBlocking("RoadEdgesWidth", params.getFloat("RoadEdgesWidth") * smallDistanceConversion); + + params.putFloatNonBlocking("PathWidth", params.getFloat("PathWidth") * distanceConversion); + } + previousMetric = metric; + + FrogPilotParamValueControl *laneLinesWidthToggle = static_cast(toggles["LaneLinesWidth"]); + FrogPilotParamValueControl *pathWidthToggle = static_cast(toggles["PathWidth"]); + FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast(toggles["RoadEdgesWidth"]); + + if (metric) { + laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the Vienna standard of 10 centimeters.")); + roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the Vienna standard of 10 centimeters.")); + + laneLinesWidthToggle->updateControl(0, 60, tr(" centimeters")); + roadEdgesWidthToggle->updateControl(0, 60, tr(" centimeters")); + + pathWidthToggle->updateControl(0, 3, tr(" meters")); + } else { + laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches.")); + roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard of 4 inches.")); + + laneLinesWidthToggle->updateControl(0, 24, tr(" inches")); + roadEdgesWidthToggle->updateControl(0, 24, tr(" inches")); + + pathWidthToggle->updateControl(0, 10, tr(" feet")); + } +} + +void FrogPilotVisualsPanel::showToggles(const std::set &keys) { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotVisualsPanel::hideToggles() { + setUpdatesEnabled(false); + + for (auto &[key, toggle] : toggles) { + bool subToggles = accessibilityKeys.find(key) != accessibilityKeys.end() || + advancedCustomOnroadUIKeys.find(key) != advancedCustomOnroadUIKeys.end() || + customOnroadUIKeys.find(key) != customOnroadUIKeys.end() || + developerMetricKeys.find(key) != developerMetricKeys.end() || + developerUIKeys.find(key) != developerUIKeys.end() || + developerWidgetKeys.find(key) != developerWidgetKeys.end() || + modelUIKeys.find(key) != modelUIKeys.end() || + navigationUIKeys.find(key) != navigationUIKeys.end(); + + toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); + } + + toggles["QOLVisuals"]->setVisible(toggles["QOLVisuals"]->isVisible() || hasOpenpilotLongitudinal); + + setUpdatesEnabled(true); + + update(); +} + +void FrogPilotVisualsPanel::hideSubToggles() { + if (developerUIOpen) { + developerUIOpen = false; + showToggles(developerUIKeys); + } +} diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h new file mode 100644 index 000000000..3d5d95dfa --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h @@ -0,0 +1,52 @@ +#pragma once + +#include + +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + +class FrogPilotVisualsPanel : public FrogPilotListWidget { + Q_OBJECT + +public: + explicit FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent); + +signals: + void openParentToggle(); + void openSubParentToggle(); + +private: + void hideSubToggles(); + void hideToggles(); + void showEvent(QShowEvent *event) override; + void showToggles(const std::set &keys); + void updateMetric(bool metric, bool bootRun); + + bool developerUIOpen; + bool hasAutoTune; + bool hasBSM; + bool hasOpenpilotLongitudinal; + bool hasRadar; + + int tuningLevel; + + std::map toggles; + + std::set accessibilityKeys = {"CameraView", "DriverCamera", "OnroadDistanceButton", "StandbyMode", "StoppedTimer"}; + std::set advancedCustomOnroadUIKeys = {"HideAlerts", "HideLeadMarker", "HideMapIcon", "HideMaxSpeed", "HideSpeed", "HideSpeedLimit", "WheelSpeed"}; + std::set customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "Compass", "PedalsOnUI", "RotatingWheel"}; + std::set developerMetricKeys = {"BorderMetrics", "FPSCounter", "LateralMetrics", "LongitudinalMetrics", "NumericalTemp", "SidebarMetrics", "UseSI"}; + std::set developerUIKeys = {"DeveloperMetrics", "DeveloperWidgets"}; + std::set developerWidgetKeys = {"ShowCEMStatus", "ShowStoppingPoint"}; + std::set modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"}; + std::set navigationUIKeys = {"BigMap", "MapStyle", "RoadNameUI", "ShowSpeedLimits", "UseVienna"}; + + FrogPilotButtonToggleControl *borderMetricsBtn; + FrogPilotButtonToggleControl *lateralMetricsBtn; + FrogPilotButtonToggleControl *longitudinalMetricsBtn; + + FrogPilotSettingsWindow *parent; + + Params params; + + QJsonObject frogpilotToggleLevels; +}; diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc new file mode 100644 index 000000000..bcae76922 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc @@ -0,0 +1,106 @@ +#include "selfdrive/ui/qt/request_repeater.h" +#include "selfdrive/ui/qt/util.h" + +#include "selfdrive/frogpilot/ui/qt/widgets/drive_stats.h" + +static QLabel *newLabel(const QString &text, const QString &type) { + QLabel *label = new QLabel(text); + label->setProperty("type", type); + return label; +} + +DriveStats::DriveStats(QWidget *parent) : QFrame(parent) { + metric = params.getBool("IsMetric"); + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(50, 25, 50, 20); + + addStatsLayouts(tr("ALL TIME"), all); + addStatsLayouts(tr("PAST WEEK"), week); + addStatsLayouts(tr("FROGPILOT"), frogPilot, true); + + std::optional dongleId = getDongleId(); + if (dongleId.has_value()) { + QString url = CommaApi::BASE_URL + "/v1.1/devices/" + dongleId.value() + "/stats"; + RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30); + QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse); + } + + setStyleSheet(R"( + DriveStats { + background-color: #333333; + border-radius: 10px; + } + + QLabel[type="title"] { font-size: 50px; font-weight: 500; } + QLabel[type="frogpilot_title"] { font-size: 50px; font-weight: 500; color: #178643; } + QLabel[type="number"] { font-size: 65px; font-weight: 400; } + QLabel[type="unit"] { font-size: 50px; font-weight: 300; color: #A0A0A0; } + )"); +} + +void DriveStats::addStatsLayouts(const QString &title, StatsLabels &labels, bool FrogPilot) { + QGridLayout *grid_layout = new QGridLayout; + grid_layout->setVerticalSpacing(10); + grid_layout->setContentsMargins(0, 10, 0, 10); + + int row = 0; + grid_layout->addWidget(newLabel(title, FrogPilot ? "frogpilot_title" : "title"), row++, 0, 1, 3); + grid_layout->addItem(new QSpacerItem(0, 10), row++, 0, 1, 1); + + grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft); + grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); + grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); + + grid_layout->addWidget(newLabel(tr("Drives"), "unit"), row + 1, 0, Qt::AlignLeft); + grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); + grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); + + QVBoxLayout *main_layout = static_cast(layout()); + main_layout->addLayout(grid_layout); + main_layout->addStretch(1); +} + +void DriveStats::updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels) { + labels.routes->setText(QString::number((int)obj["routes"].toDouble())); + labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric ? MILE_TO_KM : 1)))); + labels.distance_unit->setText(getDistanceUnit()); + labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60))); +} + +void DriveStats::updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels) { + labels.routes->setText(QString::number(paramsTracking.getInt("FrogPilotDrives"))); + labels.distance->setText(QString::number(int(paramsTracking.getFloat("FrogPilotKilometers") * (metric ? 1 : KM_TO_MILE)))); + labels.distance_unit->setText(getDistanceUnit()); + labels.hours->setText(QString::number(int(paramsTracking.getFloat("FrogPilotMinutes") / 60))); +} + +void DriveStats::updateStats() { + QJsonObject json = stats.object(); + + updateFrogPilotStats(json["frogpilot"].toObject(), frogPilot); + updateStatsForLabel(json["all"].toObject(), all); + updateStatsForLabel(json["week"].toObject(), week); + + int all_time_minutes = (int)(json["all"].toObject()["minutes"].toDouble()); + params.put("openpilotMinutes", QString::number(all_time_minutes).toStdString()); +} + +void DriveStats::parseResponse(const QString &response, bool success) { + if (!success) { + return; + } + + QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); + if (doc.isNull()) { + qDebug() << "JSON Parse failed on getting past drives statistics"; + return; + } + stats = doc; + updateStats(); +} + +void DriveStats::showEvent(QShowEvent *event) { + metric = params.getBool("IsMetric"); + updateStats(); +} diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h new file mode 100644 index 000000000..ee38f1a72 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h @@ -0,0 +1,38 @@ +#pragma once + +#include "selfdrive/ui/ui.h" + +class DriveStats : public QFrame { + Q_OBJECT + +public: + explicit DriveStats(QWidget *parent = 0); + +private: + inline QString getDistanceUnit() const { return metric ? tr("KM") : tr("Miles"); } + + struct StatsLabels { + QLabel *routes; + QLabel *distance; + QLabel *distance_unit; + QLabel *hours; + }; + + void addStatsLayouts(const QString &title, StatsLabels &labels, bool FrogPilot = false); + void showEvent(QShowEvent *event) override; + void updateStats(); + void updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels); + void updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels); + + Params params; + Params paramsTracking{"/persist/tracking"}; + + bool metric; + + QJsonDocument stats; + + StatsLabels all, week, frogPilot; + +private slots: + void parseResponse(const QString &response, bool success); +}; diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc new file mode 100644 index 000000000..d99382aea --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc @@ -0,0 +1,55 @@ +#include +#include +#include + +#include "selfdrive/ui/ui.h" + +void updateFrogPilotToggles() { + static Params params_memory{"/dev/shm/params"}; + params_memory.putBool("FrogPilotTogglesUpdated", true); +} + +QColor loadThemeColors(const QString &colorKey, bool clearCache) { + static QJsonObject cachedColorData; + + if (clearCache) { + QFile file("../frogpilot/assets/active_theme/colors/colors.json"); + + while (!file.exists()) { + util::sleep_for(100); + } + + if (!file.open(QIODevice::ReadOnly)) { + return QColor(); + } + + cachedColorData = QJsonDocument::fromJson(file.readAll()).object(); + } + + if (cachedColorData.isEmpty()) { + return QColor(); + } + + QJsonObject colorObj = cachedColorData.value(colorKey).toObject(); + return QColor( + colorObj.value("red").toInt(255), + colorObj.value("green").toInt(255), + colorObj.value("blue").toInt(255), + colorObj.value("alpha").toInt(255) + ); +} + +bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent, const bool isLong) { + ConfirmationDialog d(prompt_text, button_text, "", false, parent, isLong); + return d.exec(); +} + +bool FrogPilotConfirmationDialog::toggleReboot(QWidget *parent) { + ConfirmationDialog d(tr("Reboot required to take effect."), tr("Reboot Now"), tr("Reboot Later"), false, parent); + return d.exec(); +} + +bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) { + ConfirmationDialog d(prompt_text, tr("Yes"), tr("No"), false, parent); + return d.exec(); +} diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h new file mode 100644 index 000000000..f810348bc --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h @@ -0,0 +1,551 @@ +#pragma once + +#include + +#include +#include + +#include "selfdrive/ui/qt/widgets/controls.h" + +QColor loadThemeColors(const QString &colorKey, const bool clearCache = false); + +void updateFrogPilotToggles(); + +inline QString processModelName(const QString &modelName) { + QString modelCleaned = modelName; + modelCleaned = modelCleaned.remove(QRegularExpression("[🗺️👀📡]")).simplified(); + modelCleaned = modelCleaned.replace("(Default)", ""); + return modelCleaned; +} + +const QString buttonStyle = R"( + QPushButton { + padding: 0px 25px 0px 25px; + border-radius: 50px; + font-size: 35px; + font-weight: 500; + height: 100px; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:checked:enabled { + background-color: #33Ab4C; + } + QPushButton:disabled { + color: #33E4E4E4; + } +)"; + +class FrogPilotConfirmationDialog : public ConfirmationDialog { + Q_OBJECT + +public: + explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text, + const QString &cancel_text, const bool rich, QWidget *parent); + static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent, const bool isLong=false); + static bool toggleReboot(QWidget *parent); + static bool yesorno(const QString &prompt_text, QWidget *parent); +}; + +class FrogPilotListWidget : public QWidget { + Q_OBJECT + public: + explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) { + outer_layout.setMargin(0); + outer_layout.setSpacing(0); + outer_layout.addLayout(&inner_layout); + inner_layout.setMargin(0); + inner_layout.setSpacing(25); // default spacing is 25 + outer_layout.addStretch(); + } + inline void addItem(QWidget *w) { + w->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + inner_layout.addWidget(w); + } + inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); } + inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); } + +private: + void paintEvent(QPaintEvent *) override { + QPainter p(this); + p.setPen(Qt::gray); + for (int i = 0; i < inner_layout.count() - 1; ++i) { + QWidget *widget = inner_layout.itemAt(i)->widget(); + + QWidget *nextWidget = nullptr; + for (int j = i + 1; j < inner_layout.count(); ++j) { + nextWidget = inner_layout.itemAt(j)->widget(); + if (nextWidget != nullptr && nextWidget->isVisible()) { + break; + } + } + + if ((widget == nullptr || widget->isVisible()) && nextWidget != nullptr && nextWidget->isVisible()) { + QRect r = inner_layout.itemAt(i)->geometry(); + int bottom = r.bottom() + inner_layout.spacing() / 2; + p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); + } + } + } + QVBoxLayout outer_layout; + QVBoxLayout inner_layout; +}; + +class FrogPilotButtonsControl : public AbstractControl { + Q_OBJECT + +public: + FrogPilotButtonsControl(const QString &title, const QString &desc, + const std::vector &buttonLabels, + const bool checkable = false, const bool exclusive = true, const QString &icon = "", + const int minimumButtonWidth = 225) + : AbstractControl(title, desc, icon), buttonGroup(new QButtonGroup(this)) { + buttonGroup->setExclusive(exclusive); + for (int i = 0; i < buttonLabels.size(); ++i) { + QPushButton *button = new QPushButton(buttonLabels[i], this); + button->setCheckable(checkable); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(minimumButtonWidth); + hlayout->addWidget(button); + buttonGroup->addButton(button, i); + } + + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { + emit buttonClicked(id); + }); + } + + void setEnabled(bool enable) { + for (QAbstractButton *btn : buttonGroup->buttons()) { + btn->setEnabled(enable); + } + } + + void setCheckedButton(int id, bool status = true) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setChecked(status); + } + } + + void setEnabledButtons(int id, bool enable) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setEnabled(enable); + } + } + + void setVisibleButton(int id, bool visible) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setVisible(visible); + } + } + + void setText(int id, const QString &text) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setText(text); + } + } + +signals: + void buttonClicked(int id); + +private: + QButtonGroup *buttonGroup; +}; + +class FrogPilotButtonToggleControl : public ParamControl { + Q_OBJECT + +public: + FrogPilotButtonToggleControl(const QString ¶m, const QString &title, const QString &desc, + const std::vector &buttonParams, const std::vector &buttonLabels, + const bool exclusive = false, const bool hideToggle = false, const int minimumButtonWidth = 225, QWidget *parent = nullptr) + : ParamControl(param, title, desc, "", parent), + key(param.toStdString()), buttonParams(buttonParams), buttonGroup(new QButtonGroup(this)), hideToggle(hideToggle) { + buttonGroup->setExclusive(exclusive); + + for (int i = 0; i < buttonLabels.size(); ++i) { + QPushButton *button = new QPushButton(buttonLabels[i], this); + button->setCheckable(true); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(minimumButtonWidth); + hlayout->addWidget(button); + buttonGroup->addButton(button, i); + button->installEventFilter(this); + } + + hlayout->addWidget(&toggle); + + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { + bool checked = buttonGroup->button(id)->isChecked(); + params.putBool(buttonParams[id].toStdString(), checked); + emit buttonClicked(id); + }); + + if (hideToggle) { + toggle.hide(); + } + + QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotButtonToggleControl::refresh); + } + + void refresh() { + bool state = params.getBool(key) || hideToggle; + if (state != toggle.on) { + toggle.togglePosition(); + } + + const QList buttons = buttonGroup->buttons(); + for (int i = 0; i < buttons.size(); ++i) { + QAbstractButton *button = buttons[i]; + if (button) { + button->setEnabled(state); + button->setChecked(params.getBool(buttonParams[i].toStdString())); + } + } + } + + void setEnabledButtons(int id, bool enable) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setEnabled(enable); + } + } + + void setVisibleButton(int id, bool visible) { + if (QAbstractButton *button = buttonGroup->button(id)) { + button->setVisible(visible); + } + } + +signals: + void buttonClicked(int id); + void disabledButtonClicked(int id); + +protected: + bool eventFilter(QObject *obj, QEvent *event) override { + if (event->type() == QEvent::MouseButtonPress) { + QPushButton *button = qobject_cast(obj); + if (button && !button->isEnabled()) { + emit disabledButtonClicked(buttonGroup->id(button)); + } + } + return AbstractControl::eventFilter(obj, event); + } + + void showEvent(QShowEvent *event) override { + refresh(); + QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotButtonToggleControl::refresh); + } + +private: + Params params; + + QButtonGroup *buttonGroup; + + bool hideToggle; + + std::string key; + std::vector buttonParams; +}; + +class FrogPilotParamManageControl : public ParamControl { + Q_OBJECT + +public: + FrogPilotParamManageControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) + : ParamControl(param, title, desc, icon, parent), + key(param.toStdString()), + manageButton(new ButtonControl("", tr("MANAGE"))) { + + hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton); + + QObject::connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked); + QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotParamManageControl::refresh); + } + + void setEnabled(bool enabled) { + manageButton->setEnabled(enabled && params.getBool(key)); + + toggle.setEnabled(enabled); + toggle.update(); + } + + void setVisibleButton(bool visible) { + manageButton->setVisible(visible); + } + + void refresh() { + manageButton->setEnabled(params.getBool(key)); + } + +signals: + void manageButtonClicked(); + +protected: + void showEvent(QShowEvent *event) override { + ParamControl::showEvent(event); + refresh(); + } + +private: + Params params; + + ButtonControl *manageButton; + + std::string key; +}; + +class FrogPilotParamValueControl : public AbstractControl { + Q_OBJECT + +public: + QLabel *valueLabel; + + FrogPilotParamValueControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const float minValue, const float maxValue, const QString &label = "", const std::map &valueLabels = {}, + const float interval = 1.0f, const bool compactSize = false) + : AbstractControl(title, desc, icon), key(param.toStdString()), minValue(minValue), maxValue(maxValue), + labelText(label), interval(interval), valueLabels(valueLabels), + decimalPlaces(std::ceil(-std::log10(interval))), factor(std::pow(10.0f, decimalPlaces)) { + + setupButton(decrementButton, "-"); + setupButton(incrementButton, "+"); + + valueLabel = new QLabel(this); + valueLabel->setAlignment(Qt::AlignRight | Qt::AlignVCenter); + valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); + if (compactSize) { + valueLabel->setFixedSize(175, 100); + } else { + valueLabel->setFixedSize(350, 100); + } + + hlayout->addWidget(valueLabel); + hlayout->addWidget(&decrementButton); + hlayout->addWidget(&incrementButton); + + QObject::connect(&decrementButton, &QPushButton::pressed, this, &FrogPilotParamValueControl::onDecrementPressed); + QObject::connect(&incrementButton, &QPushButton::pressed, this, &FrogPilotParamValueControl::onIncrementPressed); + QObject::connect(&decrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::onButtonReleased); + QObject::connect(&incrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::onButtonReleased); + } + + void updateControl(float newMinValue, float newMaxValue, const QString &newLabel = "") { + minValue = newMinValue; + maxValue = newMaxValue; + labelText = newLabel; + refresh(); + } + + void refresh() { + value = params.getFloat(key); + updateValueDisplay(); + } + +signals: + void valueChanged(float value); + +protected: + void hideEvent(QHideEvent *event) override { + params.putFloat(key, value); + } + + void showEvent(QShowEvent *event) override { + refresh(); + } + +private slots: + void onIncrementPressed() { + adjustValue(interval); + } + + void onDecrementPressed() { + adjustValue(-interval); + } + + void onButtonReleased() { + params.putFloat(key, value); + + float lastValue = value; + QTimer::singleShot(50, this, [this, lastValue]() { + if (lastValue != value) { + return; + } + + previousDelta = false; + }); + } + +private: + void adjustValue(float delta) { + float modResult = fmod(value, 5.0f * interval); + if (modResult < interval) { + if (previousDelta) { + delta *= 5; + } + previousDelta = true; + } + + value = qBound(minValue, value + delta, maxValue); + value = std::round(value * factor) / factor; + + updateValueDisplay(); + + emit valueChanged(value); + } + + void updateValueDisplay() { + int intValue = static_cast(value / interval); + if (valueLabels.count(intValue)) { + valueLabel->setText(valueLabels.at(intValue)); + } else { + valueLabel->setText(QString::number(value, 'f', decimalPlaces) + labelText); + } + } + + void setupButton(QPushButton &button, const QString &text) { + button.setFixedSize(150, 100); + button.setText(text); + button.setAutoRepeat(true); + button.setAutoRepeatInterval(150); + button.setAutoRepeatDelay(500); + button.setStyleSheet(R"( + QPushButton { + border-radius: 50px; + font-size: 50px; + font-weight: 500; + height: 100px; + padding: 0 25px; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + )"); + } + + Params params; + + QPushButton decrementButton; + QPushButton incrementButton; + + QString labelText; + + bool previousDelta; + + int decimalPlaces; + + float factor; + float interval; + float minValue; + float maxValue; + float value; + + std::map valueLabels; + + std::string key; +}; + +class FrogPilotParamValueButtonControl : public FrogPilotParamValueControl { + Q_OBJECT + +public: + FrogPilotParamValueButtonControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const float minValue, const float maxValue, const QString &label = "", const std::map &valueLabels = {}, + const float interval = 1.0f, + const std::vector &buttonParams = {}, const std::vector &buttonLabels = {}, + const bool leftButton = false, const bool checkable = true, const int minimumButtonWidth = 225) + : FrogPilotParamValueControl(param, title, desc, icon, minValue, maxValue, label, valueLabels, interval, true), + buttonParams(buttonParams), + buttonGroup(new QButtonGroup(this)), + checkable(checkable) { + buttonGroup->setExclusive(false); + + for (int i = 0; i < buttonLabels.size(); ++i) { + QPushButton *button = new QPushButton(buttonLabels[i], this); + button->setCheckable(checkable); + button->setStyleSheet(buttonStyle); + button->setMinimumWidth(minimumButtonWidth); + + if (leftButton) { + hlayout->insertWidget(hlayout->indexOf(valueLabel) - 1, button); + } else { + hlayout->addWidget(button); + } + buttonGroup->addButton(button, i); + } + + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { + if (checkable) { + bool checked = buttonGroup->button(id)->isChecked(); + params.putBool(buttonParams[id].toStdString(), checked); + } + emit buttonClicked(id); + }); + + QObject::connect(this, &FrogPilotParamValueControl::valueChanged, this, &FrogPilotParamValueButtonControl::refresh); + } + + void refresh() { + if (checkable) { + const QList buttons = buttonGroup->buttons(); + for (int i = 0; i < buttons.size(); ++i) { + QAbstractButton *button = buttons[i]; + if (button) { + button->setChecked(params.getBool(buttonParams[i].toStdString())); + } + } + } + FrogPilotParamValueControl::refresh(); + } + +signals: + void buttonClicked(int id); + +protected: + void showEvent(QShowEvent *event) override { + FrogPilotParamValueControl::showEvent(event); + refresh(); + } + +private: + Params params; + + QButtonGroup *buttonGroup; + + bool checkable; + + std::vector buttonParams; +}; + +class FrogPilotDualParamControl : public QFrame { + Q_OBJECT + +public: + FrogPilotDualParamControl(FrogPilotParamValueControl *control1, FrogPilotParamValueControl *control2, QWidget *parent = nullptr) + : QFrame(parent), control1(control1), control2(control2) { + QHBoxLayout *hlayout = new QHBoxLayout(this); + hlayout->addWidget(control1); + hlayout->addWidget(control2); + + control1->setObjectName("control1"); + control2->setObjectName("control2"); + } + + void updateControl(float newMinValue, float newMaxValue, const QString &newLabel = "") { + control1->updateControl(newMinValue, newMaxValue, newLabel); + control2->updateControl(newMinValue, newMaxValue, newLabel); + } + + void refresh() { + control1->refresh(); + control2->refresh(); + } + +private: + FrogPilotParamValueControl *control1; + FrogPilotParamValueControl *control2; +}; diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc new file mode 100644 index 000000000..ca644d29d --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc @@ -0,0 +1,244 @@ +#include +#include + +#include "selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h" + +ModelReview::ModelReview(QWidget *parent) : QFrame(parent) { + mainLayout = new QStackedLayout(this); + + QVBoxLayout *ratingLayout = new QVBoxLayout(); + ratingLayout->setContentsMargins(50, 25, 50, 20); + + questionLabel = addLabel(ratingLayout, "What would you rate that drive?", "question"); + + QHBoxLayout *ratingButtonsLayout = new QHBoxLayout(); + QStringList emojis = {"🤩", "🙂", "🤔", "🙁", "🤕"}; + QList scores = {100, 80, 60, 40, 20}; + + for (int i = 0; i < emojis.size(); ++i) { + QPushButton *ratingButton = createButton(emojis[i], "rating_button", scores[i], 150, 150); + ratingButtonsLayout->addWidget(ratingButton); + QObject::connect(ratingButton, &QPushButton::clicked, this, &ModelReview::onRatingButtonClicked); + } + + ratingLayout->addLayout(ratingButtonsLayout); + + blacklistButton = createButton("Blacklist this model", "blacklist_button", 0, 600, 100); + QObject::connect(blacklistButton, &QPushButton::clicked, this, &ModelReview::onBlacklistButtonClicked); + ratingLayout->addWidget(blacklistButton, 0, Qt::AlignCenter); + + QWidget *ratingWidget = new QWidget(this); + ratingWidget->setLayout(ratingLayout); + mainLayout->addWidget(ratingWidget); + + QVBoxLayout *modelInfoLayout = new QVBoxLayout(); + modelInfoLayout->setContentsMargins(50, 25, 50, 20); + + titleLabel = addLabel(modelInfoLayout, "The model used during that drive was:", "title"); + modelLabel = addLabel(modelInfoLayout, "", "model"); + + modelInfoLayout->addItem(new QSpacerItem(20, 75, QSizePolicy::Minimum, QSizePolicy::Fixed)); + + QVBoxLayout *bottomLayout = new QVBoxLayout(); + modelScoreLabel = addLabel(bottomLayout, "Current Model Score: 0", "score"); + modelRankLabel = addLabel(bottomLayout, "Current Model Rank: 0", "rank"); + totalDrivesLabel = addLabel(bottomLayout, "Total Model Drives: 0", "drives"); + totalOverallDrivesLabel = addLabel(bottomLayout, "Total Overall Model Drives: 0", "drives"); + blacklistMessageLabel = addLabel(bottomLayout, "", "blacklist_message"); + + modelInfoLayout->addLayout(bottomLayout); + + QWidget *modelInfoWidget = new QWidget(this); + modelInfoWidget->setLayout(modelInfoLayout); + mainLayout->addWidget(modelInfoWidget); + + setStyleSheet(R"( + ModelReview { + background-color: #333333; + border-radius: 5px; + } + QLabel[type="drives"], QLabel[type="question"], QLabel[type="rank"], QLabel[type="score"], QLabel[type="title"] { + font-size: 50px; + font-weight: semi-bold; + color: #FFFFFF; + } + QLabel[type="model"] { + font-size: 75px; + font-weight: bold; + color: #FFFFFF; + } + QLabel[type="blacklist_message"] { + font-size: 40px; + font-weight: bold; + color: #C92231; + } + QPushButton[type="rating_button"] { + font-size: 75px; + font-weight: bold; + padding: 10px; + color: #FFFFFF; + background-color: #555555; + border: 2px solid #FFFFFF; + border-radius: 5px; + } + QPushButton[type="rating_button"]:hover { + background-color: #777777; + } + QPushButton[type="blacklist_button"] { + font-size: 50px; + font-weight: bold; + padding: 10px; + color: #C92231; + background-color: #000000; + border: 2px solid #FFFFFF; + border-radius: 5px; + } + )"); +} + +QLabel *ModelReview::addLabel(QVBoxLayout *layout, const QString &text, const QString &type) { + QLabel *label = new QLabel(text, this); + label->setProperty("type", type); + label->setAlignment(Qt::AlignCenter); + layout->addWidget(label); + return label; +} + +QPushButton *ModelReview::createButton(const QString &text, const QString &type, int rating, int width, int height) { + QPushButton *button = new QPushButton(text, this); + button->setProperty("type", type); + button->setProperty("rating", rating); + button->setFixedSize(width, height); + return button; +} + +void ModelReview::showEvent(QShowEvent *event) { + QStringList availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); + QStringList availableModelNames = QString::fromStdString(params.get("AvailableModelNames")).split(","); + + QMap modelFileToNameMap; + for (int i = 0; i < qMin(availableModels.size(), availableModelNames.size()); ++i) { + modelFileToNameMap.insert(availableModels[i], processModelName(availableModelNames[i])); + } + + currentModel = uiState()->scene.model; + currentModelFiltered = modelFileToNameMap.value(currentModel); + + mainLayout->setCurrentIndex(modelRated ? 1 : 0); + + checkBlacklistButtonVisibility(); +} + +void ModelReview::mousePressEvent(QMouseEvent *e) { + if (mainLayout->currentIndex() != 1) { + return; + } + + emit driveRated(); +} + +void ModelReview::updateLabel() { + totalDrivesLabel->setText(QString("Total Model Drives: %1").arg(totalDrives)); + modelLabel->setText(currentModelFiltered); + modelRankLabel->setText(QString("Current Model Rank: %1").arg(getModelRank())); + modelScoreLabel->setText(QString("Current Model Score: %1").arg(finalRating)); + totalOverallDrivesLabel->setText(QString("Total Overall Drives: %1").arg(totalOverallDrives)); + + mainLayout->setCurrentIndex(1); + + QTimer::singleShot(30000, [this]() { + emit driveRated(); + modelRated = false; + }); +} + +void ModelReview::onRatingButtonClicked() { + int newRating = qobject_cast(sender())->property("rating").toInt(); + + QString jsonString = QString::fromStdString(params.get("ModelDrivesAndScores")); + QJsonDocument jsonDoc = QJsonDocument::fromJson(jsonString.toUtf8()); + QJsonObject jsonObject = jsonDoc.isObject() ? jsonDoc.object() : QJsonObject(); + + QJsonObject modelData = jsonObject.value(currentModelFiltered).toObject(); + int modelDrives = modelData.value("Drives").toInt(); + int modelScore = modelData.value("Score").toInt(); + + totalDrives = modelDrives + 1; + finalRating = ((modelScore * modelDrives) + newRating) / totalDrives; + + modelData["Drives"] = totalDrives; + modelData["Score"] = finalRating; + jsonObject[currentModelFiltered] = modelData; + + params.put("ModelDrivesAndScores", QString(QJsonDocument(jsonObject).toJson(QJsonDocument::Compact)).toStdString()); + + modelRated = true; + updateLabel(); +} + +void ModelReview::onBlacklistButtonClicked() { + QString jsonString = QString::fromStdString(params.get("ModelDrivesAndScores")); + QJsonDocument jsonDoc = QJsonDocument::fromJson(jsonString.toUtf8()); + QJsonObject jsonObject = jsonDoc.isObject() ? jsonDoc.object() : QJsonObject(); + + QJsonObject modelData = jsonObject.value(currentModelFiltered).toObject(); + int modelDrives = modelData.value("Drives").toInt(); + + totalDrives = modelDrives + 1; + modelData["Drives"] = totalDrives; + modelData["Score"] = 0; + jsonObject[currentModelFiltered] = modelData; + + if (!blacklistedModels.contains(currentModel)) { + blacklistedModels.append(currentModel); + params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); + } + + params.put("ModelDrivesAndScores", QString(QJsonDocument(jsonObject).toJson(QJsonDocument::Compact)).toStdString()); + + blacklistMessageLabel->setText("Model successfully blacklisted!"); + updateLabel(); +} + +void ModelReview::checkBlacklistButtonVisibility() { + QStringList availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); + blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts); + + blacklistButton->setVisible(availableModels.size() > blacklistedModels.size()); +} + +int ModelReview::getModelRank() { + QString jsonString = QString::fromStdString(params.get("ModelDrivesAndScores")); + QJsonDocument jsonDoc = QJsonDocument::fromJson(jsonString.toUtf8()); + QJsonObject jsonObject = jsonDoc.isObject() ? jsonDoc.object() : QJsonObject(); + + QList> modelScores; + totalOverallDrives = 0; + + QStringList availableModels = QString::fromStdString(params.get("AvailableModelNames")).split(","); + for (const QString &model : availableModels) { + QString processedModel = processModelName(model); + QJsonObject modelData = jsonObject.value(processedModel).toObject(); + + int modelDrives = modelData.value("Drives").toInt(); + int modelScore = modelData.value("Score").toInt(); + + totalOverallDrives += modelDrives; + + if (modelScore > 0) { + modelScores.append(qMakePair(processedModel, modelScore)); + } + } + + std::sort(modelScores.begin(), modelScores.end(), [](QPair &a, QPair &b) { + return a.second > b.second; + }); + + for (int i = 0; i < modelScores.size(); ++i) { + if (modelScores[i].first == currentModelFiltered) { + return i + 1; + } + } + + return 1; +} diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h new file mode 100644 index 000000000..f3593d2c0 --- /dev/null +++ b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h @@ -0,0 +1,58 @@ +#pragma once + +#include "selfdrive/ui/ui.h" + +class ModelReview : public QFrame { + Q_OBJECT + +public: + explicit ModelReview(QWidget *parent = nullptr); + +signals: + void driveRated(); + +protected: + void mousePressEvent(QMouseEvent *e) override; + void showEvent(QShowEvent *event) override; + +private slots: + void onBlacklistButtonClicked(); + void onRatingButtonClicked(); + +private: + int getModelRank(); + + QLabel *addLabel(QVBoxLayout *layout, const QString &text, const QString &type); + + QPushButton *createButton(const QString &text, const QString &type, int rating, int width, int height); + + void checkBlacklistButtonVisibility(); + void updateLabel(); + + QStackedLayout *mainLayout; + + QLabel *blacklistMessageLabel; + QLabel *modelLabel; + QLabel *modelRankLabel; + QLabel *modelScoreLabel; + QLabel *questionLabel; + QLabel *titleLabel; + QLabel *totalDrivesLabel; + QLabel *totalOverallDrivesLabel; + + QPushButton *blacklistButton; + + Params params; + Params params_memory{"/dev/shm/params"}; + + QString currentModel; + QString currentModelFiltered; + + QStringList blacklistedModels; + + bool modelRated; + + int finalRating; + int totalDrives; + int totalOverallDrives; +}; diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index d124eb5f0..299c2bef3 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -14,6 +14,7 @@ from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKi from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params_memory MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits @@ -96,8 +97,9 @@ class ParamsLearner: self.steering_angle = msg.steeringAngleDeg self.speed = msg.vEgo + complex_dynamics = abs(msg.aEgo) > 1.0 or abs(msg.steeringRateDeg) > 20 in_linear_region = abs(self.steering_angle) < 45 - self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region + self.active = self.speed > MIN_ACTIVE_SPEED and in_linear_region and not complex_dynamics if self.active: self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]])) @@ -124,7 +126,7 @@ def main(): REPLAY = bool(int(os.getenv("REPLAY", "0"))) pm = messaging.PubMaster(['liveParameters']) - sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman') + sm = messaging.SubMaster(['liveLocationKalman', 'carState', 'frogpilotPlan'], poll='liveLocationKalman') params_reader = Params() # wait for stats about the car to come in from controls @@ -182,6 +184,9 @@ def main(): total_offset_valid = True roll_valid = True + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + while True: sm.update() if sm.all_checks(): @@ -191,6 +196,12 @@ def main(): learner.handle_log(t, which, sm[which]) if sm.updated['liveLocationKalman']: + location = sm['liveLocationKalman'] + if (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid and location.gpsOK: + bearing = math.degrees(location.calibratedOrientationNED.value[2]) + lat = location.positionGeodetic.value[0] + lon = location.positionGeodetic.value[1] + params_memory.put("LastGPSPosition", json.dumps({"latitude": lat, "longitude": lon, "bearing": bearing})) x = learner.kf.x P = np.sqrt(learner.kf.P.diagonal()) if not all(map(math.isfinite, x)): @@ -219,7 +230,7 @@ def main(): liveParameters = msg.liveParameters liveParameters.posenetValid = True liveParameters.sensorValid = sensors_valid - liveParameters.steerRatio = float(x[States.STEER_RATIO].item()) + liveParameters.steerRatio = float(x[States.STEER_RATIO].item() if not frogpilot_toggles.use_custom_steer_ratio else frogpilot_toggles.steer_ratio) liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item()) liveParameters.roll = roll liveParameters.angleOffsetAverageDeg = angle_offset_average @@ -232,6 +243,8 @@ def main(): 0.2 <= liveParameters.stiffnessFactor <= 5.0, min_sr <= liveParameters.steerRatio <= max_sr, )) + if CP.carFingerprint == "RAM_HD" or CP.carName == "subaru" and CP.lateralTuning.which() == "torque": + liveParameters.valid = True liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item()) liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item()) liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item()) @@ -255,6 +268,9 @@ def main(): pm.send('liveParameters', msg) + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() if __name__ == "__main__": main() diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 06f904473..d09ea0c2a 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -11,6 +11,8 @@ from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles + HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 MIN_POINTS_TOTAL = 4000 @@ -179,7 +181,7 @@ class TorqueEstimator(ParameterEstimator): if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): self.filtered_points.add_point(float(steer), float(lateral_acc)) - def get_msg(self, valid=True, with_points=False): + def get_msg(self, valid=True, with_points=False, frogpilot_toggles=None): msg = messaging.new_message('liveTorqueParameters') msg.valid = valid liveTorqueParameters = msg.liveTorqueParameters @@ -207,9 +209,9 @@ class TorqueEstimator(ParameterEstimator): if with_points: liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist() - liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x) + liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x if not frogpilot_toggles.use_custom_lat_accel_factor else frogpilot_toggles.steer_lat_accel_factor) liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x) - liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x) + liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x if not frogpilot_toggles.use_custom_steer_friction else frogpilot_toggles.steer_friction) liveTorqueParameters.totalBucketPoints = len(self.filtered_points) liveTorqueParameters.decay = self.decay liveTorqueParameters.maxResets = self.resets @@ -220,12 +222,18 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman', 'frogpilotPlan'], poll='liveLocationKalman') params = Params() with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: estimator = TorqueEstimator(CP) + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + + if not frogpilot_toggles.liveValid: + estimator = TorqueEstimator(CP, True) + while True: sm.update() if sm.all_checks(): @@ -236,13 +244,17 @@ def main(demo=False): # 4Hz driven by liveLocationKalman if sm.frame % 5 == 0: - pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) + pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks(), with_points=False, frogpilot_toggles=frogpilot_toggles)) # Cache points every 60 seconds while onroad if sm.frame % 240 == 0: - msg = estimator.get_msg(valid=sm.all_checks(), with_points=True) + msg = estimator.get_msg(valid=sm.all_checks(), with_points=True, frogpilot_toggles=frogpilot_toggles) params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() + if __name__ == "__main__": import argparse parser = argparse.ArgumentParser(description='Process the --demo argument.') diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index ca81bffcc..bd32741eb 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -15,7 +15,8 @@ class ModelConstants: # model inputs constants MODEL_FREQ = 20 FEATURE_LEN = 512 - HISTORY_BUFFER_LEN = 99 + FULL_HISTORY_BUFFER_LEN = 99 + HISTORY_BUFFER_LEN = 24 DESIRE_LEN = 8 TRAFFIC_CONVENTION_LEN = 2 LAT_PLANNER_STATE_LEN = 4 @@ -31,7 +32,6 @@ class ModelConstants: DISENGAGE_WIDTH = 5 POSE_WIDTH = 6 WIDE_FROM_DEVICE_WIDTH = 3 - SIM_POSE_WIDTH = 6 LEAD_WIDTH = 4 LANE_LINES_WIDTH = 2 ROAD_EDGES_WIDTH = 2 @@ -59,6 +59,8 @@ class ModelConstants: RYG_GREEN = 0.01165 RYG_YELLOW = 0.06157 + POLY_PATH_DEGREE = 4 + # model outputs slices class Plan: POSITION = slice(0, 3) @@ -70,13 +72,14 @@ class Plan: class Meta: ENGAGED = slice(0, 1) # next 2, 4, 6, 8, 10 seconds - GAS_DISENGAGE = slice(1, 36, 7) - BRAKE_DISENGAGE = slice(2, 36, 7) - STEER_OVERRIDE = slice(3, 36, 7) - HARD_BRAKE_3 = slice(4, 36, 7) - HARD_BRAKE_4 = slice(5, 36, 7) - HARD_BRAKE_5 = slice(6, 36, 7) - GAS_PRESS = slice(7, 36, 7) + GAS_DISENGAGE = slice(1, 31, 6) + BRAKE_DISENGAGE = slice(2, 31, 6) + STEER_OVERRIDE = slice(3, 31, 6) + HARD_BRAKE_3 = slice(4, 31, 6) + HARD_BRAKE_4 = slice(5, 31, 6) + HARD_BRAKE_5 = slice(6, 31, 6) # next 0, 2, 4, 6, 8, 10 seconds - LEFT_BLINKER = slice(36, 48, 2) - RIGHT_BLINKER = slice(37, 48, 2) + GAS_PRESS = slice(31, 55, 4) + BRAKE_PRESS = slice(32, 55, 4) + LEFT_BLINKER = slice(33, 55, 4) + RIGHT_BLINKER = slice(34, 55, 4) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index a388bf089..a799ee3f9 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -14,7 +14,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.realtime import set_realtime_priority from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime -from openpilot.selfdrive.modeld.models.commonmodel_pyx import sigmoid +from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid CALIB_LEN = 3 REG_SCALE = 0.25 @@ -76,8 +76,8 @@ class ModelState: input_data = self.inputs['input_img'].reshape(MODEL_HEIGHT, MODEL_WIDTH) input_data[:] = buf_data[v_offset:v_offset+MODEL_HEIGHT, h_offset:h_offset+MODEL_WIDTH] - t1 = time.perf_counter() self.model.setInputBuffer("input_img", self.inputs['input_img'].view(np.float32)) + t1 = time.perf_counter() self.model.execute() t2 = time.perf_counter() return self.output, t2 - t1 @@ -88,15 +88,15 @@ def fill_driver_state(msg, ds_result: DriverStateResult): msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std] msg.facePosition = [x * REG_SCALE for x in ds_result.face_position[:2]] msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]] - msg.faceProb = sigmoid(ds_result.face_prob) - msg.leftEyeProb = sigmoid(ds_result.left_eye_prob) - msg.rightEyeProb = sigmoid(ds_result.right_eye_prob) - msg.leftBlinkProb = sigmoid(ds_result.left_blink_prob) - msg.rightBlinkProb = sigmoid(ds_result.right_blink_prob) - msg.sunglassesProb = sigmoid(ds_result.sunglasses_prob) - msg.occludedProb = sigmoid(ds_result.occluded_prob) - msg.readyProb = [sigmoid(x) for x in ds_result.ready_prob] - msg.notReadyProb = [sigmoid(x) for x in ds_result.not_ready_prob] + msg.faceProb = float(sigmoid(ds_result.face_prob)) + msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob)) + msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob)) + msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob)) + msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob)) + msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob)) + msg.occludedProb = float(sigmoid(ds_result.occluded_prob)) + msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob] + msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob] def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, dsp_execution_time: float): model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents @@ -105,8 +105,8 @@ def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: ds.frameId = frame_id ds.modelExecutionTime = execution_time ds.dspExecutionTime = dsp_execution_time - ds.poorVisionProb = sigmoid(model_result.poor_vision_prob) - ds.wheelOnRightProb = sigmoid(model_result.wheel_on_right_prob) + ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob)) + ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob)) ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b'' fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd) fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index f6a57f1a4..e9b145a51 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -3,11 +3,22 @@ import capnp import numpy as np from cereal import log from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta +from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') ConfidenceClass = log.ModelDataV2.ConfidenceClass +def curv_from_psis(psi_target, psi_rate, vego, delay): + vego = np.clip(vego, MIN_SPEED, np.inf) + curv_from_psi = psi_target / (vego * delay) # epsilon to prevent divide-by-zero + return 2*curv_from_psi - psi_rate / vego + +def get_curvature_from_plan(plan, vego, delay): + psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2]) + psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2] + return curv_from_psis(psi_target, psi_rate, vego, delay) + class PublishState: def __init__(self): self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32) @@ -41,17 +52,46 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std if a_std is not None: builder.aStd = a_std.tolist() -def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState, - vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, - timestamp_eof: int, model_execution_time: float, valid: bool) -> None: - frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 - msg.valid = valid +def fill_xyz_poly(builder, degree, x, y, z): + xyz = np.stack([x, y, z], axis=1) + coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree) + builder.xCoefficients = coeffs[:, 0].tolist() + builder.yCoefficients = coeffs[:, 1].tolist() + builder.zCoefficients = coeffs[:, 2].tolist() - modelV2 = msg.modelV2 +def fill_lane_line_meta(builder, lane_lines, lane_line_probs): + builder.leftY = lane_lines[1].y[0] + builder.leftProb = lane_line_probs[1] + builder.rightY = lane_lines[2].y[0] + builder.rightProb = lane_line_probs[2] + +def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder, + net_output_data: dict[str, np.ndarray], v_ego: float, delay: float, + publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, + frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float, + valid: bool, planner_curves: bool) -> None: + frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 + frame_drop_perc = frame_drop * 100 + extended_msg.valid = valid + base_msg.valid = valid + + desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay)) + + driving_model_data = base_msg.drivingModelData + + driving_model_data.frameId = vipc_frame_id + driving_model_data.frameIdExtra = vipc_frame_id_extra + driving_model_data.frameDropPerc = frame_drop_perc + driving_model_data.modelExecutionTime = model_execution_time + + action = driving_model_data.action + action.desiredCurvature = desired_curv if planner_curves else float(net_output_data['desired_curvature'][0,0]) + + modelV2 = extended_msg.modelV2 modelV2.frameId = vipc_frame_id modelV2.frameIdExtra = vipc_frame_id_extra modelV2.frameAge = frame_age - modelV2.frameDropPerc = frame_drop * 100 + modelV2.frameDropPerc = frame_drop_perc modelV2.timestampEof = timestamp_eof modelV2.modelExecutionTime = model_execution_time @@ -67,9 +107,20 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, orientation_rate = modelV2.orientationRate fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T) + # temporal pose + temporal_pose = modelV2.temporalPose + temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist() + temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist() + temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist() + + # poly path + poly_path = driving_model_data.path + fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T) + # lateral planning action = modelV2.action - action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) + action.desiredCurvature = desired_curv if planner_curves else float(net_output_data['desired_curvature'][0,0]) # times at X_IDXS according to model plan PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N @@ -91,12 +142,31 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx] # lane lines - modelV2.init('laneLines', 4) - for i in range(4): + modelV2.init('laneLines', 6) + lane_probs = net_output_data['lane_lines_prob'][0,1::2].tolist() + for i in range(6): lane_line = modelV2.laneLines[i] - fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + if i < 4: + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1]) + elif i == 4: + if lane_probs[0] > 0: + leftLane_x = 0.5 * (net_output_data['lane_lines'][0,0,:,0] + net_output_data['lane_lines'][0,1,:,0]) + leftLane_y = 0.5 * (net_output_data['lane_lines'][0,0,:,1] + net_output_data['lane_lines'][0,1,:,1]) + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), leftLane_x, leftLane_y) + else: + fill_xyzt(lane_line, PLAN_T_IDXS, np.empty((0,)), np.empty((0,)), np.empty((0,))) + elif i == 5: + if lane_probs[3] > 0: + rightLane_x = 0.5 * (net_output_data['lane_lines'][0,2,:,0] + net_output_data['lane_lines'][0,3,:,0]) + rightLane_y = 0.5 * (net_output_data['lane_lines'][0,2,:,1] + net_output_data['lane_lines'][0,3,:,1]) + fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), rightLane_x, rightLane_y) + else: + fill_xyzt(lane_line, PLAN_T_IDXS, np.empty((0,)), np.empty((0,)), np.empty((0,))) modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist() - modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist() + modelV2.laneLineProbs = lane_probs + + lane_line_meta = driving_model_data.laneLineMeta + fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs) # road edges modelV2.init('roadEdges', 2) @@ -127,6 +197,8 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist() disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist() disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist() + disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist() + disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist() publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:] publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0] @@ -136,13 +208,6 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, (publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all() meta.hardBrakePredicted = hard_brake_predicted.item() - # temporal pose - temporal_pose = modelV2.temporalPose - temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist() - temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist() - temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist() - temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist() - # confidence if vipc_frame_id % (2*ModelConstants.MODEL_FREQ) == 0: # any disengage prob diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 3ac80aad9..d98a8d311 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -24,6 +24,8 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_ from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext +from openpilot.selfdrive.frogpilot.frogpilot_variables import METADATAS_PATH, MODELS_PATH, get_frogpilot_toggles + PROCESS_NAME = "selfdrive.modeld.modeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -31,8 +33,6 @@ MODEL_PATHS = { ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} -METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' - class FrameMeta: frame_id: int = 0 timestamp_sof: int = 0 @@ -50,21 +50,32 @@ class ModelState: prev_desire: np.ndarray # for tracking the rising edge of the pulse model: ModelRunner - def __init__(self, context: CLContext): + def __init__(self, context: CLContext, model: str, model_version: str): + # FrogPilot variables + MODEL_PATHS[ModelRunner.THNEED] = MODELS_PATH / f'{model}.thneed' + + with open(METADATAS_PATH / f'supercombo_metadata_{model_version}.pkl', 'rb') as f: + model_metadata = pickle.load(f) + + input_shapes = model_metadata.get('input_shapes') + self.use_desired_curvature = 'lateral_control_params' in input_shapes and 'prev_desired_curv' in input_shapes + self.frame = ModelFrame(context) self.wide_frame = ModelFrame(context) self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) + self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32) + self.prev_desired_curv_20hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32) + + # img buffers are managed in openCL transform code self.inputs = { 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), - 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), - 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), + **({'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32)} if self.use_desired_curvature else {}), + **({'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32)} if self.use_desired_curvature else {}), 'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32), } - with open(METADATA_PATH, 'rb') as f: - model_metadata = pickle.load(f) - self.output_slices = model_metadata['output_slices'] net_output_size = model_metadata['output_shapes']['outputs'][1] self.output = np.zeros(net_output_size, dtype=np.float32) @@ -86,17 +97,19 @@ class ModelState: inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: # Model decides when action is completed, so desire input is just a pulse triggered on rising edge inputs['desire'][0] = 0 - self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] - self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) + new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) self.prev_desire[:] = inputs['desire'] + self.desire_20Hz[:-1] = self.desire_20Hz[1:] + self.desire_20Hz[-1] = new_desire + self.inputs['desire'][:] = self.desire_20Hz.reshape((25,4,-1)).max(axis=1).flatten() + self.inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] + if self.use_desired_curvature: + self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] - # if getCLBuffer is not None, frame will be None self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) - if wbuf is not None: - self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) + self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) if prepare_only: return None @@ -104,10 +117,18 @@ class ModelState: self.model.execute() outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) - self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] - self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] - self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] + self.full_features_20Hz[:-1] = self.full_features_20Hz[1:] + self.full_features_20Hz[-1] = outputs['hidden_state'][0, :] + + if self.use_desired_curvature: + self.prev_desired_curv_20hz[:-1] = self.prev_desired_curv_20hz[1:] + self.prev_desired_curv_20hz[-1] = outputs['desired_curvature'][0, :] + + idxs = np.arange(-4,-100,-4)[::-1] + self.inputs['features_buffer'][:] = self.full_features_20Hz[idxs].flatten() + if self.use_desired_curvature: + # TODO model only uses last value now, once that changes we need to input strided action history buffer + self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = 0. * self.prev_desired_curv_20hz[-4, :] return outputs @@ -122,7 +143,16 @@ def main(demo=False): cloudlog.warning("setting up CL context") cl_context = CLContext() cloudlog.warning("CL context ready; loading model") - model = ModelState(cl_context) + + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + + model_name = frogpilot_toggles.model + model_version = frogpilot_toggles.model_version + + planner_curves = frogpilot_toggles.planner_curvature_model + + model = ModelState(cl_context, model_name, model_version) cloudlog.warning("models loaded, modeld starting") # visionipc clients @@ -149,8 +179,8 @@ def main(demo=False): cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") # messaging - pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "frogpilotPlan"]) publish_state = PublishState() params = Params() @@ -218,7 +248,9 @@ def main(demo=False): desire = DH.desire is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId - lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) + v_ego = max(sm["carState"].vEgo, 0.) + if model.use_desired_curvature: + lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] @@ -249,7 +281,7 @@ def main(demo=False): inputs:dict[str, np.ndarray] = { 'desire': vec_desire, 'traffic_convention': traffic_convention, - 'lateral_control_params': lateral_control_params, + **({'lateral_control_params': lateral_control_params} if model.use_desired_curvature else {}), } mt1 = time.perf_counter() @@ -259,24 +291,35 @@ def main(demo=False): if model_output is not None: modelv2_send = messaging.new_message('modelV2') + drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, model_execution_time, live_calib_seen) + fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay, + publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, + frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, + planner_curves) desire_state = modelv2_send.modelV2.meta.desireState l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] r_lane_change_prob = desire_state[log.Desire.laneChangeRight] lane_change_prob = l_lane_change_prob + r_lane_change_prob - DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) + DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'], frogpilot_toggles) modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction + modelv2_send.modelV2.meta.turnDirection = DH.turn_direction + drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state + drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction + drivingdata_send.drivingModelData.meta.turnDirection = DH.turn_direction fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) pm.send('modelV2', modelv2_send) + pm.send('drivingModelData', drivingdata_send) pm.send('cameraOdometry', posenet_send) last_vipc_frame_id = meta_main.frame_id + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() if __name__ == "__main__": try: diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 523ce00e4..e8a5a7ed5 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -7,32 +7,39 @@ #include "common/clutil.h" ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) { - input_frames = std::make_unique(buf_size); + input_frames = std::make_unique(buf_size); q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err)); u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); - net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err)); + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err)); + region.origin = 4 * frame_size_bytes; + region.size = frame_size_bytes; + last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); transform_init(&transform, context, device_id); loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); } -float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { +uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { transform_queue(&this->transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); + yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, + y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); + for (int i = 0; i < 4; i++) { + CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); + } + loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); if (output == NULL) { - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl); - - std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE); - CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); + CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr)); + CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); clFinish(q); return &input_frames[0]; } else { - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true); + copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes); + copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes); + // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. clFinish(q); return NULL; @@ -42,13 +49,10 @@ float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int ModelFrame::~ModelFrame() { transform_destroy(&transform); loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(net_input_cl)); + CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); + CL_CHECK(clReleaseMemObject(last_img_cl)); CL_CHECK(clReleaseMemObject(v_cl)); CL_CHECK(clReleaseMemObject(u_cl)); CL_CHECK(clReleaseMemObject(y_cl)); CL_CHECK(clReleaseCommandQueue(q)); -} - -float sigmoid(float input) { - return 1 / (1 + expf(-input)); -} +} \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 2cf79094a..1c7360f15 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -16,23 +16,23 @@ #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" -float sigmoid(float input); - class ModelFrame { public: ModelFrame(cl_device_id device_id, cl_context context); ~ModelFrame(); - float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); + uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); const int MODEL_WIDTH = 512; const int MODEL_HEIGHT = 256; const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; const int buf_size = MODEL_FRAME_SIZE * 2; + const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); private: Transform transform; LoadYUVState loadyuv; cl_command_queue q; - cl_mem y_cl, u_cl, v_cl, net_input_cl; - std::unique_ptr input_frames; -}; + cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl; + cl_buffer_region region; + std::unique_ptr input_frames; +}; \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index 7c3eb0b3d..3348af3f1 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -12,9 +12,7 @@ cdef extern from "common/clutil.h": cl_context cl_create_context(cl_device_id) cdef extern from "selfdrive/modeld/models/commonmodel.h": - float sigmoid(float) - cppclass ModelFrame: int buf_size ModelFrame(cl_device_id, cl_context) - float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) + unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index e292bb0d2..99f9c5dc1 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 import numpy as np cimport numpy as cnp @@ -8,10 +8,8 @@ from libc.string cimport memcpy from msgq.visionipc.visionipc cimport cl_mem from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context -from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame +from .commonmodel cimport mat3, ModelFrame as cppModelFrame -def sigmoid(x): - return cppSigmoid(x) cdef class CLContext(BaseCLContext): def __cinit__(self): @@ -37,11 +35,11 @@ cdef class ModelFrame: def prepare(self, VisionBuf buf, float[:] projection, CLMem output): cdef mat3 cprojection memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef float * data + cdef unsigned char * data if output is None: data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL) else: data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem) if not data: return None - return np.asarray( data) + return np.asarray( data) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index d0117f875..e04671c02 100644 Binary files a/selfdrive/modeld/models/supercombo.onnx and b/selfdrive/modeld/models/supercombo.onnx differ diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index af57e11d0..9b162efe8 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -1,15 +1,19 @@ import numpy as np from openpilot.selfdrive.modeld.constants import ModelConstants +def safe_exp(x, out=None): + # -11 is around 10**14, more causes float16 overflow + return np.exp(np.clip(x, -np.inf, 11), out=out) + def sigmoid(x): - return 1. / (1. + np.exp(-x)) + return 1. / (1. + safe_exp(-x)) def softmax(x, axis=-1): x -= np.max(x, axis=axis, keepdims=True) if x.dtype == np.float32 or x.dtype == np.float64: - np.exp(x, out=x) + safe_exp(x, out=x) else: - x = np.exp(x) + x = safe_exp(x) x /= np.sum(x, axis=axis, keepdims=True) return x @@ -42,10 +46,9 @@ class Parser: raw = outs[name] raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) - pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2] n_values = (raw.shape[2] - out_N)//2 pred_mu = raw[:,:,:n_values] - pred_std = np.exp(raw[:,:,n_values: 2*n_values]) + pred_std = safe_exp(raw[:,:,n_values: 2*n_values]) if in_N > 1: weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype) diff --git a/selfdrive/modeld/runners/onnxmodel.py b/selfdrive/modeld/runners/onnxmodel.py index 69b44a5a9..b2827a861 100644 --- a/selfdrive/modeld/runners/onnxmodel.py +++ b/selfdrive/modeld/runners/onnxmodel.py @@ -1,33 +1,12 @@ -import onnx -import itertools import os +import onnx import sys import numpy as np from typing import Any from openpilot.selfdrive.modeld.runners.runmodel_pyx import RunModel +from openpilot.selfdrive.modeld.runners.ort_helpers import convert_fp16_to_fp32, ORT_TYPES_TO_NP_TYPES -ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} - -def attributeproto_fp16_to_fp32(attr): - float32_list = np.frombuffer(attr.raw_data, dtype=np.float16) - attr.data_type = 1 - attr.raw_data = float32_list.astype(np.float32).tobytes() - -def convert_fp16_to_fp32(path): - model = onnx.load(path) - for i in model.graph.initializer: - if i.data_type == 10: - attributeproto_fp16_to_fp32(i) - for i in itertools.chain(model.graph.input, model.graph.output): - if i.type.tensor_type.elem_type == 10: - i.type.tensor_type.elem_type = 1 - for i in model.graph.node: - for a in i.attribute: - if hasattr(a, 't'): - if a.t.data_type == 10: - attributeproto_fp16_to_fp32(a.t) - return model.SerializeToString() def create_ort_session(path, fp16_to_fp32): os.environ["OMP_NUM_THREADS"] = "4" @@ -43,14 +22,14 @@ def create_ort_session(path, fp16_to_fp32): provider = 'OpenVINOExecutionProvider' elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: options.intra_op_num_threads = 2 - provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'}) + provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'EXHAUSTIVE'}) else: options.intra_op_num_threads = 2 options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL provider = 'CPUExecutionProvider' - model_data = convert_fp16_to_fp32(path) if fp16_to_fp32 else path + model_data = convert_fp16_to_fp32(onnx.load(path)) if fp16_to_fp32 else path print("Onnx selected provider: ", [provider], file=sys.stderr) ort_session = ort.InferenceSession(model_data, options, providers=[provider]) print("Onnx using ", ort_session.get_providers(), file=sys.stderr) @@ -61,7 +40,6 @@ class ONNXModel(RunModel): def __init__(self, path, output, runtime, use_tf8, cl_context): self.inputs = {} self.output = output - self.use_tf8 = use_tf8 self.session = create_ort_session(path, fp16_to_fp32=True) self.input_names = [x.name for x in self.session.get_inputs()] @@ -85,7 +63,7 @@ class ONNXModel(RunModel): return None def execute(self): - inputs = {k: (v.view(np.uint8) / 255. if self.use_tf8 and k == 'input_img' else v) for k,v in self.inputs.items()} + inputs = {k: v.view(self.input_dtypes[k]) for k,v in self.inputs.items()} inputs = {k: v.reshape(self.input_shapes[k]).astype(self.input_dtypes[k]) for k,v in inputs.items()} outputs = self.session.run(None, inputs) assert len(outputs) == 1, "Only single model outputs are supported" diff --git a/selfdrive/modeld/runners/ort_helpers.py b/selfdrive/modeld/runners/ort_helpers.py new file mode 100644 index 000000000..26afb0356 --- /dev/null +++ b/selfdrive/modeld/runners/ort_helpers.py @@ -0,0 +1,36 @@ +import onnx +import onnxruntime as ort +import numpy as np +import itertools + +ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} + +def attributeproto_fp16_to_fp32(attr): + float32_list = np.frombuffer(attr.raw_data, dtype=np.float16) + attr.data_type = 1 + attr.raw_data = float32_list.astype(np.float32).tobytes() + +def convert_fp16_to_fp32(model): + for i in model.graph.initializer: + if i.data_type == 10: + attributeproto_fp16_to_fp32(i) + for i in itertools.chain(model.graph.input, model.graph.output): + if i.type.tensor_type.elem_type == 10: + i.type.tensor_type.elem_type = 1 + for i in model.graph.node: + if i.op_type == 'Cast' and i.attribute[0].i == 10: + i.attribute[0].i = 1 + for a in i.attribute: + if hasattr(a, 't'): + if a.t.data_type == 10: + attributeproto_fp16_to_fp32(a.t) + return model.SerializeToString() + + +def make_onnx_cpu_runner(model_path): + options = ort.SessionOptions() + options.intra_op_num_threads = 4 + options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL + model_data = convert_fp16_to_fp32(onnx.load(model_path)) + return ort.InferenceSession(model_data, options, providers=['CPUExecutionProvider']) diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx index e1b201a6a..12b8ec10f 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.pyx +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 from libcpp.string cimport string diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx index c3b2b7e9b..f83b7c8cf 100644 --- a/selfdrive/modeld/runners/snpemodel_pyx.pyx +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 import os from libcpp cimport bool diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx index 53487afa1..6f8fdd255 100644 --- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx +++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 from libcpp cimport bool from libcpp.string cimport string diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 1e19a591b..6927c9e47 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -3,9 +3,10 @@ import random import cereal.messaging as messaging from msgq.visionipc import VisionIpcServer, VisionStreamType +from opendbc.car.car_helpers import get_demo_car_params +from openpilot.common.params import Params from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.realtime import DT_MDL -from openpilot.selfdrive.car.car_helpers import write_car_param from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state @@ -18,11 +19,11 @@ class TestModeld: def setup_method(self): self.vipc_server = VisionIpcServer("camerad") - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height) + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height) + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height) + self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height) self.vipc_server.start_listener() - write_car_param() + Params().put("CarParams", get_demo_car_params().to_bytes()) self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) diff --git a/selfdrive/modeld/tests/tf_test/build.sh b/selfdrive/modeld/tests/tf_test/build.sh index 4e92ca069..df1d24761 100755 --- a/selfdrive/modeld/tests/tf_test/build.sh +++ b/selfdrive/modeld/tests/tf_test/build.sh @@ -1,2 +1,2 @@ -#!/bin/bash +#!/usr/bin/env bash clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc index c7ce7b083..c93f5cd03 100644 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -33,17 +33,8 @@ void loadyuv_destroy(LoadYUVState* s) { void loadyuv_queue(LoadYUVState* s, cl_command_queue q, cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl, bool do_shift) { + cl_mem out_cl) { cl_int global_out_off = 0; - if (do_shift) { - // shift the image in slot 1 to slot 0, then place the new image in slot 1 - global_out_off += (s->width*s->height) + (s->width/2)*(s->height/2)*2; - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_int), &global_out_off)); - const size_t copy_work_size = global_out_off/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); - } CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); @@ -72,3 +63,14 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q, CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, &loaduv_work_size, NULL, 0, 0, NULL)); } + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size) { + CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); + const size_t copy_work_size = size/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, + ©_work_size, NULL, 0, 0, NULL)); +} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl index 7dd3d973a..970187a6d 100644 --- a/selfdrive/modeld/transforms/loadyuv.cl +++ b/selfdrive/modeld/transforms/loadyuv.cl @@ -1,7 +1,7 @@ #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) __kernel void loadys(__global uchar8 const * const Y, - __global float * out, + __global uchar * out, int out_offset) { const int gid = get_global_id(0); @@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y, const int ox = ois % TRANSFORMED_WIDTH; const uchar8 ys = Y[gid]; - const float8 ysf = convert_float8(ys); // 02 // 13 - __global float* outy0; - __global float* outy1; + __global uchar* outy0; + __global uchar* outy1; if ((oy & 1) == 0) { outy0 = out + out_offset; //y0 outy1 = out + out_offset + UV_SIZE*2; //y2 @@ -25,23 +24,24 @@ __kernel void loadys(__global uchar8 const * const Y, outy1 = out + out_offset + UV_SIZE*3; //y3 } - vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); - vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); } __kernel void loaduv(__global uchar8 const * const in, - __global float8 * out, + __global uchar8 * out, int out_offset) { const int gid = get_global_id(0); const uchar8 inv = in[gid]; - const float8 outv = convert_float8(inv); - out[gid + out_offset / 8] = outv; + out[gid + out_offset / 8] = inv; } -__kernel void copy(__global float8 * inout, - int in_offset) +__kernel void copy(__global uchar8 * in, + __global uchar8 * out, + int in_offset, + int out_offset) { const int gid = get_global_id(0); - inout[gid] = inout[gid + in_offset / 8]; + out[gid + out_offset / 8] = in[gid + in_offset / 8]; } diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h index 7d27ef5d4..659059cd2 100644 --- a/selfdrive/modeld/transforms/loadyuv.h +++ b/selfdrive/modeld/transforms/loadyuv.h @@ -13,4 +13,8 @@ void loadyuv_destroy(LoadYUVState* s); void loadyuv_queue(LoadYUVState* s, cl_command_queue q, cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl, bool do_shift = false); + cl_mem out_cl); + + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 80af7b71d..19b09c37e 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -17,6 +17,9 @@ def dmonitoringd_thread(): DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) + # FrogPilot variables + driver_view_enabled = params.get_bool("IsDriverViewEnabled") + # 20Hz <- dmonitoringmodeld while True: sm.update() @@ -27,9 +30,11 @@ def dmonitoringd_thread(): valid = sm.all_checks() if valid: DM.run_step(sm) + elif driver_view_enabled: + DM.face_detected = sm['driverStateV2'].leftDriverData.faceProb > DM.settings._FACE_THRESHOLD or sm['driverStateV2'].rightDriverData.faceProb > DM.settings._FACE_THRESHOLD # publish - dat = DM.get_state_packet(valid=valid) + dat = DM.get_state_packet(valid=valid or driver_view_enabled) pm.send('driverMonitoringState', dat) # load live always-on toggle diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 295e8127d..9de5caf83 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -17,4 +17,4 @@ if arch in ['larch64', 'aarch64', 'x86_64']: map_env["RPATH"].append(Dir('.').abspath) map_env["LIBPATH"].append(Dir('.').abspath) maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs) - # map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs) + map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 1e57ad3e7..d52ee162b 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -41,8 +41,6 @@ MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_s QSurfaceFormat fmt; fmt.setRenderableType(QSurfaceFormat::OpenGLES); - m_settings.setMapMode(QMapLibre::Settings::MapMode::Static); - ctx = std::make_unique(); ctx->setFormat(fmt); ctx->create(); @@ -89,18 +87,6 @@ MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_s LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); }); - QObject::connect(m_map.data(), &QMapLibre::Map::staticRenderFinished, [=](const QString &error) { - rendering = false; - - if (!error.isEmpty()) { - LOGE("Static map rendering failed with error: '%s'\n", error.toStdString().c_str()); - } else if (vipc_server != nullptr) { - double end_render_t = millis_since_boot(); - publish((end_render_t - start_render_t) / 1000.0, true); - last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime(); - } - }); - if (online) { vipc_server.reset(new VisionIpcServer("navd")); vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); @@ -128,16 +114,22 @@ void MapRenderer::msgUpdate() { float bearing = RAD2DEG(orientation.getValue()[2]); updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing); - if (!rendering) { + // TODO: use the static rendering mode instead + // retry render a few times + for (int i = 0; i < 5 && !rendered(); i++) { + QApplication::processEvents(QEventLoop::AllEvents, 100); update(); + if (rendered()) { + LOGW("rendered after %d retries", i+1); + break; + } } + // fallback to sending a blank frame if (!rendered()) { publish(0, false); } } - - } if (sm->updated("navRoute")) { @@ -165,9 +157,7 @@ void MapRenderer::updatePosition(QMapLibre::Coordinate position, float bearing) m_map->setCoordinate(position); m_map->setBearing(bearing); m_map->setZoom(zoom); - if (!rendering) { - update(); - } + update(); } bool MapRenderer::loaded() { @@ -175,10 +165,16 @@ bool MapRenderer::loaded() { } void MapRenderer::update() { - rendering = true; + double start_t = millis_since_boot(); gl_functions->glClear(GL_COLOR_BUFFER_BIT); - start_render_t = millis_since_boot(); - m_map->startStaticRender(); + m_map->render(); + gl_functions->glFlush(); + double end_t = millis_since_boot(); + + if ((vipc_server != nullptr) && loaded()) { + publish((end_t - start_t) / 1000.0, true); + last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime(); + } } void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array &buf) { diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 956c1d54b..ef29bb988 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -43,10 +43,8 @@ private: void initLayers(); - double start_render_t; uint32_t frame_id = 0; uint64_t last_llk_rendered = 0; - bool rendering = false; bool rendered() { return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime(); } diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 8cfc495f2..bf49ca19e 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -9,6 +9,7 @@ import requests import cereal.messaging as messaging from cereal import log from openpilot.common.api import Api +from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, @@ -17,6 +18,8 @@ from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, parse_banner_instructions) from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, has_prime + REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 REROUTE_COUNTER_MIN = 3 @@ -54,10 +57,24 @@ class RouteEngine: if "MAPBOX_TOKEN" in os.environ: self.mapbox_token = os.environ["MAPBOX_TOKEN"] self.mapbox_host = "https://api.mapbox.com" + elif not has_prime(): + self.mapbox_token = self.params.get("MapboxSecretKey", encoding='utf8') + self.mapbox_host = "https://api.mapbox.com" else: self.api = Api(self.params.get("DongleId", encoding='utf8')) self.mapbox_host = "https://maps.comma.ai" + # FrogPilot variables + self.frogpilot_toggles = get_frogpilot_toggles() + + self.approaching_intersection = False + self.approaching_turn = False + + self.nav_speed_limit = 0 + + self.stop_coord = [] + self.stop_signal = [] + def update(self): self.sm.update(0) @@ -76,6 +93,10 @@ class RouteEngine: except Exception: cloudlog.exception("navd.failed_to_compute") + # Update FrogPilot parameters + if self.sm['frogpilotPlan'].togglesUpdated: + self.frogpilot_toggles = get_frogpilot_toggles() + def update_location(self): location = self.sm['liveLocationKalman'] self.gps_ok = location.gpsOK @@ -160,10 +181,57 @@ class RouteEngine: resp.raise_for_status() r = resp.json() + r1 = resp.json() + + # Function to remove specified keys recursively unnessary for display + def remove_keys(obj, keys_to_remove): + if isinstance(obj, list): + return [remove_keys(item, keys_to_remove) for item in obj] + elif isinstance(obj, dict): + return {key: remove_keys(value, keys_to_remove) for key, value in obj.items() if key not in keys_to_remove} + else: + return obj + + keys_to_remove = ['geometry', 'annotation', 'incidents', 'intersections', 'components', 'sub', 'waypoints'] + self.r2 = remove_keys(r1, keys_to_remove) + self.r3 = {} + + # Add items for display under "routes" + if 'routes' in self.r2 and len(self.r2['routes']) > 0: + first_route = self.r2['routes'][0] + nav_destination_json = self.params.get('NavDestination') + + try: + nav_destination_data = json.loads(nav_destination_json) + place_name = nav_destination_data.get('place_name', 'Default Place Name') + first_route['Destination'] = place_name + first_route['Metric'] = self.params.get_bool("IsMetric") + self.r3['CurrentStep'] = 0 + self.r3['uuid'] = self.r2['uuid'] + except json.JSONDecodeError as e: + print(f"Error decoding JSON: {e}") + + # Save slim json as file + with open('navdirections.json', 'w') as json_file: + json.dump(self.r2, json_file, indent=4) + with open('CurrentStep.json', 'w') as json_file: + json.dump(self.r3, json_file, indent=4) + if len(r['routes']): self.route = r['routes'][0]['legs'][0]['steps'] self.route_geometry = [] + # Iterate through the steps in self.route to find "stop_sign" and "traffic_light" + if self.frogpilot_toggles.conditional_navigation_intersections: + self.stop_signal = [] + self.stop_coord = [] + + for step in self.route: + for intersection in step["intersections"]: + if "stop_sign" in intersection or "traffic_signal" in intersection: + self.stop_signal.append(intersection["geometry_index"]) + self.stop_coord.append(Coordinate.from_mapbox_tuple(intersection["location"])) + maxspeed_idx = 0 maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed'] @@ -206,6 +274,7 @@ class RouteEngine: if self.step_idx is None: msg.valid = False + self.nav_speed_limit = 0 self.pm.send('navInstruction', msg) return @@ -280,6 +349,9 @@ class RouteEngine: if ('maxspeed' in closest.annotations) and self.localizer_valid: msg.navInstruction.speedLimit = closest.annotations['maxspeed'] + self.nav_speed_limit = closest.annotations['maxspeed'] + if not self.localizer_valid or ('maxspeed' not in closest.annotations): + self.nav_speed_limit = 0 # Speed limit sign type if 'speedLimitSign' in step: @@ -295,6 +367,13 @@ class RouteEngine: if self.step_idx + 1 < len(self.route): self.step_idx += 1 self.reset_recompute_limits() + + # Update the 'CurrentStep' value in the JSON + if 'routes' in self.r2 and len(self.r2['routes']) > 0: + self.r3['CurrentStep'] = self.step_idx + # Write the modified JSON data back to the file + with open('CurrentStep.json', 'w') as json_file: + json.dump(self.r3, json_file, indent=4) else: cloudlog.warning("Destination reached") @@ -304,6 +383,34 @@ class RouteEngine: self.params.remove("NavDestination") self.clear_route() + if self.frogpilot_toggles.conditional_navigation: + v_ego = self.sm['carState'].vEgo + seconds_to_stop = interp(v_ego, [0, 22.5, 45], [5, 10, 10]) + + closest_condition_indices = [idx for idx in self.stop_signal if idx >= closest_idx] + if closest_condition_indices: + closest_condition_index = min(closest_condition_indices, key=lambda idx: abs(closest_idx - idx)) + index = self.stop_signal.index(closest_condition_index) + + distance_to_condition = self.last_position.distance_to(self.stop_coord[index]) + self.approaching_intersection = self.frogpilot_toggles.conditional_navigation_intersections and distance_to_condition < max((seconds_to_stop * v_ego), 25) + else: + self.approaching_intersection = False + + self.approaching_turn = self.frogpilot_toggles.conditional_navigation_turns and distance_to_maneuver_along_geometry < max((seconds_to_stop * v_ego), 25) + else: + self.approaching_intersection = False + self.approaching_turn = False + + frogpilot_plan_send = messaging.new_message('frogpilotNavigation') + frogpilotNavigation = frogpilot_plan_send.frogpilotNavigation + + frogpilotNavigation.approachingIntersection = self.approaching_intersection + frogpilotNavigation.approachingTurn = self.approaching_turn + frogpilotNavigation.navigationSpeedLimit = self.nav_speed_limit + + self.pm.send('frogpilotNavigation', frogpilot_plan_send) + def send_route(self): coords = [] @@ -354,8 +461,8 @@ class RouteEngine: def main(): - pm = messaging.PubMaster(['navInstruction', 'navRoute']) - sm = messaging.SubMaster(['liveLocationKalman', 'managerState']) + pm = messaging.PubMaster(['navInstruction', 'navRoute', 'frogpilotNavigation']) + sm = messaging.SubMaster(['carState', 'liveLocationKalman', 'managerState', 'frogpilotPlan']) rk = Ratekeeper(1.0) route_engine = RouteEngine(sm, pm) diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 6c8495cc3..301f99dd5 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -12,11 +12,14 @@ class Maneuver: self.breakpoints = kwargs.get("breakpoints", [0.0, duration]) self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))]) self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))]) + self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))]) self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))]) + self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))]) self.only_lead2 = kwargs.get("only_lead2", False) self.only_radar = kwargs.get("only_radar", False) self.ensure_start = kwargs.get("ensure_start", False) + self.ensure_slowdown = kwargs.get("ensure_slowdown", False) self.enabled = kwargs.get("enabled", True) self.e2e = kwargs.get("e2e", False) self.personality = kwargs.get("personality", 0) @@ -42,9 +45,11 @@ class Maneuver: logs = [] while plant.current_time < self.duration: speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values) - prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) + prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values) - log = plant.step(speed_lead, prob, cruise) + pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values) + prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values) + log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle) d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200. v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0. @@ -57,13 +62,18 @@ class Maneuver: speed_lead, log['acceleration']])) - if d_rel < .4 and (self.only_radar or prob > 0.5): + if d_rel < .4 and (self.only_radar or prob_lead > 0.5): print("Crashed!!!!") valid = False if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: print('LongitudinalPlanner not starting!') valid = False + + if self.ensure_slowdown and log['speed'] > 5.5: + print('LongitudinalPlanner not slowing down!') + valid = False + if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04: print('Not stopping with force decel') valid = False diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index daf7cec32..7596e1947 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -56,12 +56,13 @@ class Plant: def current_time(self): return float(self.rk.frame) / self.rate - def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): + def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0): # ******** publish a fake model going straight and fake calibration ******** # note that this is worst case for MPC, since model will delay long mpc by one time step radar = messaging.new_message('radarState') control = messaging.new_message('controlsState') car_state = messaging.new_message('carState') + car_control = messaging.new_message('carControl') model = messaging.new_message('modelV2') a_lead = (v_lead - self.v_lead_prev)/self.ts self.v_lead_prev = v_lead @@ -71,14 +72,14 @@ class Plant: v_rel = v_lead - self.speed if self.only_radar: status = True - elif prob > .5: + elif prob_lead > .5: status = True else: status = False else: d_rel = 200. v_rel = 0. - prob = 0.0 + prob_lead = 0.0 status = False lead = log.RadarState.LeadData.new_message() @@ -92,7 +93,7 @@ class Plant: # TODO use real radard logic for this lead.aLeadTau = float(_LEAD_ACCEL_TAU) lead.status = status - lead.modelProb = float(prob) + lead.modelProb = float(prob_lead) if not self.only_lead2: radar.radarState.leadOne = lead radar.radarState.leadTwo = lead @@ -109,6 +110,7 @@ class Plant: acceleration = log.XYZTData.new_message() acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)] model.modelV2.acceleration = acceleration + model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)] control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off control.controlsState.vCruise = float(v_cruise * 3.6) @@ -117,10 +119,13 @@ class Plant: control.controlsState.forceDecel = self.force_decel car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 + car_state.carState.vCruise = float(v_cruise * 3.6) + car_control.carControl.orientationNED = [0., float(pitch), 0.] # ******** get controlsState messages for plotting *** sm = {'radarState': radar.radarState, 'carState': car_state.carState, + 'carControl': car_control.carControl, 'controlsState': control.controlsState, 'modelV2': model.modelV2} self.planner.update(sm) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 62a95babe..7eea44aae 100644 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -82,6 +82,44 @@ def create_maneuvers(kwargs): breakpoints=[0.0, 2., 2.01], **kwargs, ), + Maneuver( + "approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., -0.1, -0.1], + breakpoints=[0.0, 2., 2.01], + **kwargs, + ), + Maneuver( + "approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., 0.1, 0.1], + breakpoints=[0.0, 2., 2.01], + **kwargs, + ), + Maneuver( + "slow to 5m/s with allow_throttle = False and pitch = +0.1", + duration=25., + initial_speed=20., + lead_relevancy=False, + prob_throttle_values=[1., 0., 0.], + cruise_values=[20., 20., 20.], + pitch_values=[0., 0.1, 0.1], + breakpoints=[0.0, 2., 2.01], + ensure_slowdown=True, + **kwargs, + ), Maneuver( "approach slower cut-in car at 20m/s", duration=20., diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index 0715fcf7b..cba658159 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -92,7 +92,7 @@ def migrate_pandaStates(lr): # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE, + "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR, "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index cba2edfd5..dc089c503 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -121,10 +121,10 @@ if __name__ == "__main__": all_logs = list(LogReader(BASE_URL + log_fn)) cmp_log = [] - # logs are ordered based on type: modelV2, driverStateV2 + # logs are ordered based on type: modelV2, drivingModelData, driverStateV2 if not NO_MODEL: - model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry")) - cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2] + model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) + cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3] dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 87f1adfad..995e024de 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -73eb11111fb6407fa307c3f2bdd3331f2514c707 +b0d295609abb0f84c34ffb104c1b1a0bb855352f \ No newline at end of file diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 739efcb98..4266e3407 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -565,7 +565,7 @@ CONFIGS = [ ProcessConfig( proc_name="modeld", pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], - subs=["modelV2", "cameraOdometry"], + subs=["modelV2", "drivingModelData", "cameraOdometry"], ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], should_recv_callback=ModeldCameraSyncRcvCallback(), tolerance=NUMPY_TOLERANCE, diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 75585e2f1..009aa7669 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -207,7 +207,7 @@ class TestOnroad: if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": - assert 0.7 < sz < 1.0 + assert 0.6 < sz < 1.0 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index e181cb9ab..a0650519e 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -3,7 +3,7 @@ import json Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations') base_libs = [common, messaging, visionipc, transformations, - 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'avcodec', 'avformat', 'avutil', 'yuv', 'OmxCore'] + qt_env["LIBS"] if arch == 'larch64': base_libs.append('EGL') @@ -24,6 +24,11 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"] +frogpilot_widgets_src = ["../frogpilot/ui/qt/widgets/drive_stats.cc", "../frogpilot/ui/qt/widgets/frogpilot_controls.cc", + "../frogpilot/ui/qt/widgets/model_reviewer.cc"] + +widgets_src += frogpilot_widgets_src + qt_env['CPPDEFINES'] = [] if maps: base_libs += ['QMapLibre'] @@ -42,6 +47,17 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc", "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"] +frogpilot_src = ["../frogpilot/navigation/ui/maps_settings.cc", "../frogpilot/navigation/ui/navigation_functions.cc", + "../frogpilot/navigation/ui/primeless_settings.cc", "../frogpilot/screenrecorder/omx_encoder.cc", + "../frogpilot/screenrecorder/screenrecorder.cc", "../frogpilot/ui/qt/offroad/data_settings.cc", + "../frogpilot/ui/qt/offroad/device_settings.cc", "../frogpilot/ui/qt/offroad/frogpilot_settings.cc", + "../frogpilot/ui/qt/offroad/lateral_settings.cc", "../frogpilot/ui/qt/offroad/longitudinal_settings.cc", + "../frogpilot/ui/qt/offroad/model_settings.cc", "../frogpilot/ui/qt/offroad/sounds_settings.cc", + "../frogpilot/ui/qt/offroad/theme_settings.cc", "../frogpilot/ui/qt/offroad/utilities.cc", + "../frogpilot/ui/qt/offroad/vehicle_settings.cc", "../frogpilot/ui/qt/offroad/visual_settings.cc"] + +qt_src += frogpilot_src + # build translation files with open(File("translations/languages.json").abspath) as f: languages = json.loads(f.read()) @@ -83,6 +99,7 @@ if GetOption('extras'): qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) +qt_env['CPPPATH'] += ["../frogpilot/screenrecorder/openmax/include/"] if GetOption('extras') and arch != "Darwin": # setup and factory resetter diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 9dbe7cbae..211ea6d4d 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -13,6 +13,9 @@ #include "selfdrive/ui/qt/maps/map_settings.h" #endif +#include "selfdrive/frogpilot/ui/qt/widgets/drive_stats.h" +#include "selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h" + // HomeWindow: the container for the offroad and onroad UIs HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { @@ -65,6 +68,13 @@ void HomeWindow::updateState(const UIState &s) { body->setEnabled(true); slayout->setCurrentWidget(body); } + + if (s.scene.started) { + showDriverView(s.scene.driver_camera_timer >= 10, true); + if (s.scene.map_open) { + showSidebar(false); + } + } } void HomeWindow::offroadTransition(bool offroad) { @@ -73,24 +83,32 @@ void HomeWindow::offroadTransition(bool offroad) { if (offroad) { slayout->setCurrentWidget(home); } else { + showSidebar(params.getBool("Sidebar")); slayout->setCurrentWidget(onroad); } } -void HomeWindow::showDriverView(bool show) { +void HomeWindow::showDriverView(bool show, bool started) { if (show) { emit closeSettings(); slayout->setCurrentWidget(driver_view); + sidebar->setVisible(show == false); } else { - slayout->setCurrentWidget(home); + if (started) { + slayout->setCurrentWidget(onroad); + sidebar->setVisible(params.getBool("Sidebar")); + } else { + slayout->setCurrentWidget(home); + sidebar->setVisible(show == false); + } } - sidebar->setVisible(show == false); } void HomeWindow::mousePressEvent(QMouseEvent* e) { // Handle sidebar collapsing if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) { sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible()); + params.putBool("Sidebar", sidebar->isVisible()); } } @@ -130,6 +148,9 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); }); header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); + date = new ElidedLabel(); + header_layout->addWidget(date, 0, Qt::AlignHCenter | Qt::AlignLeft); + version = new ElidedLabel(); header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight); @@ -145,19 +166,26 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { home_layout->setContentsMargins(0, 0, 0, 0); home_layout->setSpacing(30); - // left: MapSettings/PrimeAdWidget + // left: MapSettings QStackedWidget *left_widget = new QStackedWidget(this); #ifdef ENABLE_MAPS left_widget->addWidget(new MapSettings); #else left_widget->addWidget(new QWidget); #endif - left_widget->addWidget(new PrimeAdWidget); - left_widget->setStyleSheet("border-radius: 10px;"); + left_widget->addWidget(new DriveStats); - left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : 1); - connect(uiState(), &UIState::primeChanged, [=](bool prime) { - left_widget->setCurrentIndex(prime ? 0 : 1); + ModelReview *modelReview = new ModelReview(this); + left_widget->addWidget(modelReview); + + left_widget->setStyleSheet("border-radius: 10px;"); + left_widget->setCurrentIndex(1); + + connect(modelReview, &ModelReview::driveRated, [=]() { + left_widget->setCurrentIndex(1); + }); + connect(uiState(), &UIState::reviewModel, [=]() { + left_widget->setCurrentIndex(2); }); home_layout->addWidget(left_widget, 1); @@ -195,6 +223,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { timer = new QTimer(this); timer->callOnTimeout(this, &OffroadHome::refresh); + QObject::connect(uiState(), &UIState::togglesUpdated, this, &OffroadHome::refresh); + setStyleSheet(R"( * { color: white; @@ -224,7 +254,12 @@ void OffroadHome::hideEvent(QHideEvent *event) { } void OffroadHome::refresh() { - version->setText(getBrand() + " " + QString::fromStdString(params.get("UpdaterCurrentDescription"))); + QString model = processModelName(uiState()->scene.model_name); + + date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d")); + version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model); + + date->setVisible(util::system_time_valid()); bool updateAvailable = update_widget->refresh(); int alerts = alerts_widget->refresh(); diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index f60b80b21..b400b20b1 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -39,6 +39,9 @@ private: OffroadAlert* alerts_widget; QPushButton* alert_notif; QPushButton* update_notif; + + // FrogPilot variables + ElidedLabel* date; }; class HomeWindow : public QWidget { @@ -53,7 +56,7 @@ signals: public slots: void offroadTransition(bool offroad); - void showDriverView(bool show); + void showDriverView(bool show, bool started=false); void showSidebar(bool show); void showMapPanel(bool show); @@ -69,6 +72,9 @@ private: DriverViewWindow *driver_view; QStackedLayout *slayout; + // FrogPilot variables + Params params; + private slots: void updateState(const UIState &s); }; diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 490eb118c..bfc2e670d 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -75,7 +75,7 @@ void MapWindow::initLayers() { QVariantMap transition; transition["duration"] = 400; // ms - m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee")); + m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot)); m_map->setPaintProperty("navLayer", "line-color-transition", transition); m_map->setPaintProperty("navLayer", "line-width", 7.5); m_map->setLayoutProperty("navLayer", "line-cap", "round"); @@ -110,6 +110,50 @@ void MapWindow::initLayers() { // TODO: remove, symbol-sort-key does not seem to matter outside of each layer m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0); } + // Credit goes to jakethesnake420! + if (!m_map->layerExists("buildingsLayer")) { + qDebug() << "Initializing buildingsLayer"; + QVariantMap buildings; + buildings["id"] = "buildingsLayer"; + buildings["source"] = "composite"; + buildings["source-layer"] = "building"; + buildings["type"] = "fill-extrusion"; + buildings["minzoom"] = 15; + m_map->addLayer("buildingsLayer", buildings); + m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"})); + + QVariantList fillExtrusionHight = { + "interpolate", + QVariantList{"linear"}, + QVariantList{"zoom"}, + 15, 0, + 15.05, QVariantList{"get", "height"} + }; + + QVariantList fillExtrusionBase = { + "interpolate", + QVariantList{"linear"}, + QVariantList{"zoom"}, + 15, 0, + 15.05, QVariantList{"get", "min_height"} + }; + + QVariantList fillExtrusionOpacity = { + "interpolate", + QVariantList{"linear"}, + QVariantList{"zoom"}, + 15, 0, + 15.5, .6, + 17, .6, + 20, 0 + }; + + m_map->setPaintProperty("buildingsLayer", "fill-extrusion-color", QColor("grey")); + m_map->setPaintProperty("buildingsLayer", "fill-extrusion-opacity", fillExtrusionOpacity); + m_map->setPaintProperty("buildingsLayer", "fill-extrusion-height", fillExtrusionHight); + m_map->setPaintProperty("buildingsLayer", "fill-extrusion-base", fillExtrusionBase); + m_map->setLayoutProperty("buildingsLayer", "visibility", "visible"); + } } void MapWindow::updateState(const UIState &s) { @@ -127,6 +171,21 @@ void MapWindow::updateState(const UIState &s) { } prev_time_valid = sm.valid("clocks"); + if (sm.updated("modelV2")) { + // set path color on change, and show map on rising edge of navigate on openpilot + bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() && + (sm["controlsState"].getControlsState().getEnabled() || uiState()->scene.always_on_lateral_active); + if (nav_enabled != uiState()->scene.navigate_on_openpilot) { + if (loaded_once) { + m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled)); + } + if (nav_enabled) { + emit requestVisible(true); + } + } + uiState()->scene.navigate_on_openpilot = nav_enabled; + } + if (sm.updated("liveLocationKalman")) { auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); auto locationd_pos = locationd_location.getPositionGeodetic(); @@ -234,6 +293,41 @@ void MapWindow::updateState(const UIState &s) { route_rcv_frame = sm.rcv_frame("navRoute"); updateDestinationMarker(); } + + // Credit to jakethesnake420 + if (loaded_once && (sm.rcv_frame("uiPlan") != model_rcv_frame)) { + auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); + auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["uiPlan"].getUiPlan().getPosition()); + QMapLibre::Feature model_path_feature(QMapLibre::Feature::LineStringType, model_path, {}, {}); + QVariantMap modelV2Path; + modelV2Path["type"] = "geojson"; + modelV2Path["data"] = QVariant::fromValue(model_path_feature); + m_map->updateSource("modelPathSource", modelV2Path); + model_rcv_frame = sm.rcv_frame("uiPlan"); + } + + // Map Styling - Credit goes to OPKR! + int map_style = uiState()->scene.map_style; + + if (map_style != previous_map_style) { + std::array styleUrls = { + "mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj", // Stock openpilot + "mapbox://styles/mapbox/streets-v11", // Mapbox Streets + "mapbox://styles/mapbox/outdoors-v11", // Mapbox Outdoors + "mapbox://styles/mapbox/light-v10", // Mapbox Light + "mapbox://styles/mapbox/dark-v10", // Mapbox Dark + "mapbox://styles/mapbox/satellite-v9", // Mapbox Satellite + "mapbox://styles/mapbox/satellite-streets-v11", // Mapbox Satellite Streets + "mapbox://styles/mapbox/navigation-day-v1", // Mapbox Navigation Day + "mapbox://styles/mapbox/navigation-night-v1", // Mapbox Navigation Night + "mapbox://styles/mapbox/traffic-night-v2", // Mapbox Traffic Night + "mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp" // mike854's (Satellite hybrid) + }; + + m_map->setStyleUrl(QString::fromStdString(styleUrls[map_style])); + } + + previous_map_style = map_style; } void MapWindow::setError(const QString &err_str) { @@ -366,6 +460,7 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) { void MapWindow::offroadTransition(bool offroad) { if (offroad) { clearRoute(); + uiState()->scene.navigate_on_openpilot = false; routing_problem = false; } else { auto dest = coordinate_from_param("NavDestination"); diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 31a44f27b..a15aa4031 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -70,10 +70,20 @@ private: MapInstructions* map_instructions; MapETA* map_eta; + // Blue with normal nav, green when nav is input into the model + QColor getNavPathColor(bool nav_enabled) { + return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee"); + } + void clearRoute(); void updateDestinationMarker(); uint64_t route_rcv_frame = 0; + // FrogPilot variables + int previous_map_style; + + uint64_t model_rcv_frame = 0; + private slots: void updateState(const UIState &s); diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 0f4be674f..2e2145eb5 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -8,12 +8,15 @@ #include #include +#include "common/params.h" #include "common/util.h" #include "common/transformations/coordinates.hpp" #include "common/transformations/orientation.hpp" #include "cereal/messaging/messaging.h" -const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str(); +const QString MAPBOX_TOKEN = !util::getenv("MAPBOX_TOKEN").empty() ? util::getenv("MAPBOX_TOKEN").c_str() : + !Params().get("MapboxSecretKey").empty() ? QString::fromStdString(Params().get("MapboxSecretKey")) : + QString(); const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str(); const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db"; diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc index c4cc20e21..ff19f6c25 100644 --- a/selfdrive/ui/qt/maps/map_panel.cc +++ b/selfdrive/ui/qt/maps/map_panel.cc @@ -41,3 +41,11 @@ void MapPanel::toggleMapSettings() { emit mapPanelRequested(); show(); } + +void MapPanel::showEvent(QShowEvent *event) { + uiState()->scene.map_open = true; +} + +void MapPanel::hideEvent(QHideEvent *event) { + uiState()->scene.map_open = false; +} diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h index 190bb6344..4e1af240f 100644 --- a/selfdrive/ui/qt/maps/map_panel.h +++ b/selfdrive/ui/qt/maps/map_panel.h @@ -18,4 +18,8 @@ public slots: private: QStackedLayout *content_stack; + + // FrogPilot widgets + void hideEvent(QHideEvent *event); + void showEvent(QShowEvent *event); }; diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 4d655be36..d6fc72481 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -62,7 +62,7 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;"); heading->addWidget(title); - auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this); + subtitle = new QLabel(tr("Manage at connect.comma.ai"), this); subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;"); heading->addWidget(subtitle); } @@ -93,6 +93,8 @@ MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { setStyleSheet("MapSettings { background-color: #333333; }"); QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh); + + wifi = new WifiManager(this); } void MapSettings::showEvent(QShowEvent *event) { @@ -138,6 +140,12 @@ void MapSettings::refresh() { for (; n < widgets.size(); ++n) widgets[n]->setVisible(false); setUpdatesEnabled(true); + + // Use IP for NOO without Prime + if (!uiState()->hasPrime()) { + QString ipAddress = QString("%1:8082").arg(wifi->getIp4Address()); + subtitle->setText(tr("Manage at %1").arg(ipAddress)); + } } void MapSettings::navigateTo(const QJsonObject &place) { diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index 0e151df4a..1a963367a 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -12,6 +12,7 @@ #include #include "common/params.h" +#include "selfdrive/ui/qt/network/wifi_manager.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" @@ -64,6 +65,11 @@ private: DestinationWidget *work_widget; std::vector widgets; + // FrogPilot variables + QLabel *subtitle; + + WifiManager *wifi; + signals: void closeSettings(); }; diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index d7cdddff4..21eef39d2 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -6,7 +6,6 @@ #include #include -#include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/controls.h" @@ -127,9 +126,21 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid ListWidget *list = new ListWidget(this); // Enable tethering layout - tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled()); + std::vector tetheringSelection{tr("Off"), tr("Always"), tr("Only Onroad"), tr("Until Reboot")}; + tetheringToggle = new ButtonParamControl("TetheringEnabled", tr("Enable Tethering"), + tr("Allow tethering with your data SIM and keep it active either while driving or continuously."), + "", tetheringSelection); + if (params.getInt("TetheringEnabled") == 3) { + params.remove("TetheringEnabled"); + tetheringToggle->setCheckedButton(0); + } + QButtonGroup *buttonGroup = tetheringToggle->findChild(); + if (buttonGroup) { + QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [this](int id) { + toggleTethering(id); + }); + } list->addItem(tetheringToggle); - QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering); // Change tethering password ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT")); @@ -221,8 +232,8 @@ void AdvancedNetworking::refresh() { update(); } -void AdvancedNetworking::toggleTethering(bool enabled) { - wifi->setTetheringEnabled(enabled); +void AdvancedNetworking::toggleTethering(int id) { + wifi->setTetheringEnabled(id == 1 || id == 3); tetheringToggle->setEnabled(false); } @@ -290,6 +301,17 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) color: #696969; } )"); + + // FrogPilot variables + QObject::connect(uiState(), &UIState::uiUpdate, this, &WifiUI::updateState); +} + +void WifiUI::updateState(const UIState &s) { + if (!isVisible() || s.sm->frame % UI_FREQ != 0) { + return; + } + + refresh(); } void WifiUI::refresh() { diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 9b6af005e..6e2c1fa1c 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -6,6 +6,7 @@ #include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" #include "selfdrive/ui/qt/widgets/toggle.h" +#include "selfdrive/ui/ui.h" class WifiItem : public QWidget { Q_OBJECT @@ -45,6 +46,9 @@ private: ListWidget *wifi_list_widget = nullptr; std::vector wifi_items; + // FrogPilot widgets + void updateState(const UIState &s); + signals: void connectToNetwork(const Network n); @@ -59,7 +63,7 @@ public: private: LabelControl* ipLabel; - ToggleControl* tetheringToggle; + ButtonParamControl* tetheringToggle; ToggleControl* roamingToggle; ButtonControl* editApnButton; ButtonControl* hiddenNetworkButton; @@ -72,7 +76,7 @@ signals: void requestWifiScreen(); public slots: - void toggleTethering(bool enabled); + void toggleTethering(int id); void refresh(); }; diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h index 2f6a1829d..09445ea0b 100644 --- a/selfdrive/ui/qt/network/wifi_manager.h +++ b/selfdrive/ui/qt/network/wifi_manager.h @@ -58,6 +58,7 @@ public: void setTetheringEnabled(bool enabled); bool isTetheringEnabled(); void changeTetheringPassword(const QString &newPassword); + QString getIp4Address(); QString getTetheringPassword(); private: @@ -72,7 +73,6 @@ private: QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI); uint getAdapterType(const QDBusObjectPath &path); - QString getIp4Address(); void deactivateConnectionBySsid(const QString &ssid); void deactivateConnection(const QDBusObjectPath &path); QVector getActiveConnections(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 5aa33974a..53ec04af7 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -15,6 +15,8 @@ #include "selfdrive/ui/qt/widgets/scrollview.h" #include "selfdrive/ui/qt/widgets/ssh_keys.h" +#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" + TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon std::vector> toggle_defs{ @@ -114,6 +116,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() { updateToggles(); }); + + // FrogPilot signals + connect(toggles["IsMetric"], &ToggleControl::toggleFlipped, [=](bool metric) { + updateMetric(metric); + }); } void TogglesPanel::updateState(const UIState &s) { @@ -137,6 +144,16 @@ void TogglesPanel::showEvent(QShowEvent *event) { } void TogglesPanel::updateToggles() { + UIState *s = uiState(); + UIScene &scene = s->scene; + + auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"]; + disengage_on_accelerator_toggle->setVisible(!scene.always_on_lateral); + auto driver_camera_toggle = toggles["RecordFront"]; + driver_camera_toggle->setVisible(!(scene.no_logging && scene.no_uploads)); + auto nav_settings_left_toggle = toggles["NavSettingLeftSide"]; + nav_settings_left_toggle->setVisible(!scene.full_map); + auto experimental_mode_toggle = toggles["ExperimentalMode"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; const QString e2e_description = QString("%1
" @@ -152,17 +169,16 @@ void TogglesPanel::updateToggles() { .arg(tr("New Driving Visualization")) .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.")); - const bool is_release = params.getBool("IsReleaseBranch"); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { AlignedBuffer aligned_buf; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); cereal::CarParams::Reader CP = cmsg.getRoot(); - if (!CP.getExperimentalLongitudinalAvailable() || is_release) { + if (!CP.getExperimentalLongitudinalAvailable()) { params.remove("ExperimentalLongitudinalEnabled"); } - op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release); + op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable()); if (hasLongitudinalControl(CP)) { // normal description and toggle experimental_mode_toggle->setEnabled(true); @@ -179,11 +195,7 @@ void TogglesPanel::updateToggles() { QString long_desc = unavailable + " " + \ tr("openpilot longitudinal control may come in a future update."); if (CP.getExperimentalLongitudinalAvailable()) { - if (is_release) { - long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches."); - } else { - long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."); - } + long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."); } experimental_mode_toggle->setDescription("" + long_desc + "

" + e2e_description); } @@ -221,6 +233,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { params.remove("CalibrationParams"); params.remove("LiveTorqueParameters"); + params_storage.remove("CalibrationParams"); + params_storage.remove("LiveTorqueParameters"); } }); addItem(resetCalibBtn); @@ -348,6 +362,19 @@ void DevicePanel::showEvent(QShowEvent *event) { ListWidget::showEvent(event); } +void SettingsWindow::hideEvent(QHideEvent *event) { + closeMapBoxInstructions(); + closeMapSelection(); + closePanel(); + closeParentToggle(); + + mapboxInstructionsOpen = false; + mapSelectionOpen = false; + panelOpen = false; + parentToggleOpen = false; + subParentToggleOpen = false; +} + void SettingsWindow::showEvent(QShowEvent *event) { setCurrentPanel(0); } @@ -368,23 +395,41 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { panel_widget = new QStackedWidget(); // close button - QPushButton *close_btn = new QPushButton(tr("×")); + QPushButton *close_btn = new QPushButton(tr("← Back")); close_btn->setStyleSheet(R"( QPushButton { - font-size: 140px; - padding-bottom: 20px; - border-radius: 100px; + font-size: 50px; + border-radius: 25px; background-color: #292929; - font-weight: 400; + font-weight: 500; } QPushButton:pressed { - background-color: #3B3B3B; + background-color: #ADADAD; } )"); - close_btn->setFixedSize(200, 200); - sidebar_layout->addSpacing(45); - sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter); - QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings); + close_btn->setFixedSize(300, 125); + sidebar_layout->addSpacing(10); + sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight); + QObject::connect(close_btn, &QPushButton::clicked, [this]() { + if (mapboxInstructionsOpen) { + closeMapBoxInstructions(); + mapboxInstructionsOpen = false; + } else if (mapSelectionOpen) { + closeMapSelection(); + mapSelectionOpen = false; + } else if (subParentToggleOpen) { + closeSubParentToggle(); + subParentToggleOpen = false; + } else if (parentToggleOpen) { + closeParentToggle(); + parentToggleOpen = false; + } else if (panelOpen) { + closePanel(); + panelOpen = false; + } else { + closeSettings(); + } + }); // setup panels DevicePanel *device = new DevicePanel(this); @@ -394,11 +439,23 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { TogglesPanel *toggles = new TogglesPanel(this); QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); + // FrogPilot panels + QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric); + + FrogPilotSettingsWindow *frogpilotSettingsWindow = new FrogPilotSettingsWindow(this); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::closeMapBoxInstructions, [this]() {mapboxInstructionsOpen=false;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapBoxInstructions, [this]() {mapboxInstructionsOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapSelection, [this]() {mapSelectionOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openPanel, [this]() {panelOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openParentToggle, [this]() {parentToggleOpen=true;}); + QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openSubParentToggle, [this]() {subParentToggleOpen=true;}); + QList> panels = { {tr("Device"), device}, {tr("Network"), new Networking(this)}, {tr("Toggles"), toggles}, {tr("Software"), new SoftwarePanel(this)}, + {tr("FrogPilot"), frogpilotSettingsWindow}, }; nav_btns = new QButtonGroup(this); @@ -432,6 +489,60 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { panel_widget->addWidget(panel_frame); QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() { + if (w->widget() == frogpilotSettingsWindow) { + bool tuningLevelConfirmed = params.getBool("TuningLevelConfirmed"); + + if (!tuningLevelConfirmed) { + int frogpilotHours = paramsTracking.getInt("FrogPilotMinutes") / 60; + int openpilotHours = params.getInt("openpilotMinutes") / 60; + + if (frogpilotHours < 1 && openpilotHours < 100) { + if (FrogPilotConfirmationDialog::toggleAlert(tr("Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { + params.putBool("TuningLevelConfirmed", true); + params.putInt("TuningLevel", 0); + } + } else if (frogpilotHours < 50 && openpilotHours < 100) { + if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { + params.putBool("TuningLevelConfirmed", true); + params.putInt("TuningLevel", 0); + } + } else if (frogpilotHours < 100) { + if (openpilotHours >= 100) { + if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { + params.putBool("TuningLevelConfirmed", true); + params.putInt("TuningLevel", 1); + } + } else { + if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { + params.putBool("TuningLevelConfirmed", true); + params.putInt("TuningLevel", 1); + } + } + } else if (frogpilotHours >= 100) { + if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { + params.putBool("TuningLevelConfirmed", true); + params.putInt("TuningLevel", 2); + } + } + } + } + + if (mapboxInstructionsOpen) { + closeMapBoxInstructions(); + mapboxInstructionsOpen = false; + } + if (mapSelectionOpen) { + closeMapSelection(); + mapSelectionOpen = false; + } + if (panelOpen) { + closePanel(); + panelOpen = false; + } + if (parentToggleOpen) { + closeParentToggle(); + parentToggleOpen = false; + } btn->setChecked(true); panel_widget->setCurrentWidget(w); }); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 35a044bdd..1f9cd9655 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -25,17 +25,38 @@ public: protected: void showEvent(QShowEvent *event) override; + // FrogPilot widgets + void hideEvent(QHideEvent *event) override; + signals: void closeSettings(); void reviewTrainingGuide(); void showDriverView(); void expandToggleDescription(const QString ¶m); + // FrogPilot signals + void closeMapBoxInstructions(); + void closeMapSelection(); + void closePanel(); + void closeParentToggle(); + void closeSubParentToggle(); + void updateMetric(bool metric, bool bootRun=false); + private: QPushButton *sidebar_alert_widget; QWidget *sidebar_widget; QButtonGroup *nav_btns; QStackedWidget *panel_widget; + + // FrogPilot variables + Params params; + Params paramsTracking{"/persist/tracking"}; + + bool mapboxInstructionsOpen; + bool mapSelectionOpen; + bool panelOpen; + bool parentToggleOpen; + bool subParentToggleOpen; }; class DevicePanel : public ListWidget { @@ -56,6 +77,9 @@ private slots: private: Params params; ButtonControl *pair_device; + + // FrogPilot variables + Params params_storage{"/persist/params"}; }; class TogglesPanel : public ListWidget { @@ -64,6 +88,10 @@ public: explicit TogglesPanel(SettingsWindow *parent); void showEvent(QShowEvent *event) override; +signals: + // FrogPilot signals + void updateMetric(bool metric, bool bootRun=false); + public slots: void expandToggleDescription(const QString ¶m); @@ -98,4 +126,7 @@ private: Params params; ParamWatcher *fs_watch; + + // FrogPilot variables + Params params_memory{"/dev/shm/params"}; }; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index c8245205c..c045cb26d 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -21,7 +21,7 @@ void SoftwarePanel::checkForUpdates() { } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off.")); + onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off or in park.")); onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;"); addItem(onroadLbl); @@ -29,6 +29,12 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { versionLbl = new LabelControl(tr("Current Version"), ""); addItem(versionLbl); + // automatic updates toggle + ParamControl *automaticUpdatesToggle = new ParamControl("AutomaticUpdates", tr("Automatically Update FrogPilot"), + tr("FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi."), ""); + connect(automaticUpdatesToggle, &ToggleControl::toggleFlipped, this, &updateFrogPilotToggles); + addItem(automaticUpdatesToggle); + // download update btn downloadBtn = new ButtonControl(tr("Download"), tr("CHECK")); connect(downloadBtn, &ButtonControl::clicked, [=]() { @@ -38,6 +44,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { } else { std::system("pkill -SIGHUP -f system.updated.updated"); } + params_memory.putBool("ManualUpdateInitiated", true); }); addItem(downloadBtn); @@ -54,6 +61,12 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { connect(targetBranchBtn, &ButtonControl::clicked, [=]() { auto current = params.get("GitBranch"); QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); + if (!uiState()->scene.frogs_go_moo) { + branches.removeAll("FrogPilot-Development"); + branches.removeAll("FrogPilot-New"); + branches.removeAll("FrogPilot-Test"); + branches.removeAll("MAKE-PRS-HERE"); + } for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) { auto i = branches.indexOf(b); if (i >= 0) { @@ -70,19 +83,30 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { checkForUpdates(); } }); - if (!params.getBool("IsTestedBranch")) { - addItem(targetBranchBtn); - } + addItem(targetBranchBtn); // uninstall button auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) { + if (FrogPilotConfirmationDialog::yesorno(tr("Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls."), this)) { + if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings!"), this)) { + std::system("rm -rf /persist/params"); + } + } params.putBool("DoUninstall", true); } }); addItem(uninstallBtn); + // error log button + auto errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for openpilot crashes.")); + connect(errorLogBtn, &ButtonControl::clicked, [=]() { + std::string txt = util::read_file("/data/crashes/error.txt"); + ConfirmationDialog::rich(QString::fromStdString(txt), this); + }); + addItem(errorLogBtn); + fs_watch = new ParamWatcher(this); QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { updateLabels(); @@ -104,6 +128,9 @@ void SoftwarePanel::showEvent(QShowEvent *event) { } void SoftwarePanel::updateLabels() { + UIState *s = uiState(); + UIScene &scene = s->scene; + // add these back in case the files got removed fs_watch->addParam("LastUpdateTime"); fs_watch->addParam("UpdateFailedCount"); @@ -111,12 +138,15 @@ void SoftwarePanel::updateLabels() { fs_watch->addParam("UpdateAvailable"); if (!isVisible()) { + scene.downloading_update = false; return; } - // updater only runs offroad - onroadLbl->setVisible(is_onroad); - downloadBtn->setVisible(!is_onroad); + // updater only runs offroad or when parked + bool parked = scene.parked || scene.frogs_go_moo; + + onroadLbl->setVisible(is_onroad && !parked); + downloadBtn->setVisible(!is_onroad || parked); // download update QString updater_state = QString::fromStdString(params.get("UpdaterState")); @@ -124,7 +154,9 @@ void SoftwarePanel::updateLabels() { if (updater_state != "idle") { downloadBtn->setEnabled(false); downloadBtn->setValue(updater_state); + scene.downloading_update = true; } else { + scene.downloading_update = false; if (failed) { downloadBtn->setText(tr("CHECK")); downloadBtn->setValue(tr("failed to check for update")); @@ -148,7 +180,7 @@ void SoftwarePanel::updateLabels() { versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription"))); versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); - installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable")); + installBtn->setVisible((!is_onroad || parked) && params.getBool("UpdateAvailable")); installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription"))); installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc index 0235c5ff4..8be4e9bf0 100644 --- a/selfdrive/ui/qt/onroad/alerts.cc +++ b/selfdrive/ui/qt/onroad/alerts.cc @@ -6,11 +6,17 @@ #include "selfdrive/ui/qt/util.h" void OnroadAlerts::updateState(const UIState &s) { - Alert a = getAlert(*(s.sm), s.scene.started_frame); + Alert a = getAlert(*(s.sm), s.scene.started_frame, s.scene.force_onroad); if (!alert.equal(a)) { alert = a; update(); } + + // FrogPilot variables + const UIScene &scene = s.scene; + + hide_alerts = scene.hide_alerts; + road_name_ui = scene.road_name_ui; } void OnroadAlerts::clear() { @@ -18,7 +24,7 @@ void OnroadAlerts::clear() { update(); } -OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) { +OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame, bool force_onroad) { const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); const uint64_t controls_frame = sm.rcv_frame("controlsState"); @@ -28,7 +34,7 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()}; } - if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) { + if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ && !force_onroad) { const int CONTROLS_TIMEOUT = 5; const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9; @@ -56,8 +62,15 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started void OnroadAlerts::paintEvent(QPaintEvent *event) { if (alert.size == cereal::ControlsState::AlertSize::NONE) { + alert_height = 0; return; } + + if (hide_alerts && alert.status == cereal::ControlsState::AlertStatus::NORMAL) { + alert_height = 0; + return; + } + static std::map alert_heights = { {cereal::ControlsState::AlertSize::SMALL, 271}, {cereal::ControlsState::AlertSize::MID, 420}, @@ -67,11 +80,14 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { int margin = 40; int radius = 30; + int offset = road_name_ui ? 25 : 0; + alert_height = h - margin + offset; if (alert.size == cereal::ControlsState::AlertSize::FULL) { margin = 0; radius = 0; + offset = 0; } - QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2); + QRect r = QRect(0 + margin, height() - h + margin - offset, width() - margin*2, h - margin*2); QPainter p(this); diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h index 1f76ba305..56b300b7a 100644 --- a/selfdrive/ui/qt/onroad/alerts.h +++ b/selfdrive/ui/qt/onroad/alerts.h @@ -12,6 +12,9 @@ public: void updateState(const UIState &s); void clear(); + // FrogPilot variables + int alert_height; + protected: struct Alert { QString text1; @@ -29,11 +32,18 @@ protected: {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)}, {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)}, {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)}, + + // FrogPilot alert colors + {cereal::ControlsState::AlertStatus::FROGPILOT, QColor(0x17, 0x86, 0x44, 0xf1)}, }; void paintEvent(QPaintEvent*) override; - OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame); + OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame, bool force_onroad); QColor bg; Alert alert = {}; + + // FrogPilot variables + bool hide_alerts; + bool road_name_ui; }; diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 8833e2dd5..ffc04b121 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -1,4 +1,3 @@ - #include "selfdrive/ui/qt/onroad/annotated_camera.h" #include @@ -17,16 +16,36 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par main_layout->setMargin(UI_BORDER_SIZE); main_layout->setSpacing(0); + QHBoxLayout *buttons_layout = new QHBoxLayout(); + buttons_layout->setSpacing(0); + + // Neokii screen recorder + screenRecorder = new ScreenRecorder(this); + buttons_layout->addWidget(screenRecorder); + experimental_btn = new ExperimentalButton(this); - main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight); + buttons_layout->addWidget(experimental_btn); + + QVBoxLayout *top_right_layout = new QVBoxLayout(); + top_right_layout->setSpacing(0); + top_right_layout->addLayout(buttons_layout); + + pedal_icons = new PedalIcons(this); + top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight); + + main_layout->addLayout(top_right_layout, 0); + main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight); map_settings_btn = new MapSettingsButton(this); main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5}); + + // Initialize FrogPilot widgets + initializeFrogPilotWidgets(); } -void AnnotatedCameraWidget::updateState(const UIState &s) { +void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) { const int SET_SPEED_NA = 255; const SubMaster &sm = *(s.sm); @@ -46,19 +65,28 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { // Handle older routes where vEgoCluster is not set v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; - float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); + float v_ego = v_ego_cluster_seen && !s.scene.use_wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo(); speed = cs_alive ? std::max(0.0, v_ego) : 0.0; speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); - speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; + if (s.scene.show_speed_limits || s.scene.speed_limit_controller) { + speedLimit = slcOverridden ? s.scene.speed_limit_overridden_speed : s.scene.speed_limit; + } else { + speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; + } speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); + if (s.scene.speed_limit_controller && !showSLCOffset && !slcOverridden && speedLimit != 0) { + speedLimit += slcSpeedLimitOffset; + } - has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD); - has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA); + has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || !useViennaSLCSign && !hideSpeedLimit; + has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || useViennaSLCSign && !hideSpeedLimit; is_metric = s.scene.is_metric; speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); + hideBottomIcons |= turnSignalAnimation && (turnSignalLeft || turnSignalRight) && (signalStyle == "traditional" || signalStyle == "traditional_gif"); + hideBottomIcons |= bigMapOpen; status = s.status; // update engageability/experimental mode button @@ -73,23 +101,40 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { // hide map settings button for alerts and flip for right hand DM if (map_settings_btn->isEnabled()) { - map_settings_btn->setVisible(!hideBottomIcons); + map_settings_btn->setVisible(!hideBottomIcons && !hideMapIcon); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); } + + // Update FrogPilot widgets + updateFrogPilotVariables(alert_height, s.scene); } void AnnotatedCameraWidget::drawHud(QPainter &p) { p.save(); + static QElapsedTimer pendingLimitTimer; + if (speedLimitChanged) { + if (!pendingLimitTimer.isValid()) { + pendingLimitTimer.start(); + } + } else { + pendingLimitTimer.invalidate(); + } + QPen pendingLimitPenColor = pendingLimitTimer.isValid() && pendingLimitTimer.elapsed() % 1000 <= 500 ? QPen(redColor(), 6) : QPen(blackColor(), 6); + // Header gradient QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT); bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45)); bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg); + QString mtscSpeedStr = (mtscSpeed > 1) ? QString::number(std::nearbyint(mtscSpeed)) + speedUnit : "–"; + QString newSpeedLimitStr = (unconfirmedSpeedLimit > 1) ? QString::number(std::nearbyint(unconfirmedSpeedLimit)) : "–"; QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–"; + QString speedLimitOffsetStr = (slcSpeedLimitOffset == 0) ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend((slcSpeedLimitOffset > 0) ? "+" : ""); QString speedStr = QString::number(std::nearbyint(speed)); QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; + QString vtscSpeedStr = (vtscSpeed > 1) ? QString::number(std::nearbyint(vtscSpeed)) + speedUnit : "–"; // Draw outer box + border to contain set speed and speed limit const int sign_margin = 12; @@ -108,37 +153,86 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { int bottom_radius = has_eu_speed_limit ? 100 : 32; QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); - p.setPen(QPen(whiteColor(75), 6)); + if (trafficModeActive) { + p.setPen(QPen(redColor(), 10)); + } else { + p.setPen(QPen(whiteColor(75), 6)); + } p.setBrush(blackColor(166)); drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius); - // Draw MAX QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff); QColor set_speed_color = whiteColor(); - if (is_cruise_set) { - if (status == STATUS_DISENGAGED) { - max_color = whiteColor(); - } else if (status == STATUS_OVERRIDE) { - max_color = QColor(0x91, 0x9b, 0x95, 0xff); - } else if (speedLimit > 0) { - auto interp_color = [=](QColor c1, QColor c2, QColor c3) { - return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1; - }; - max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf)); - set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00)); + if (!hideMaxSpeed) { + // Draw MAX + if (is_cruise_set) { + if (status == STATUS_DISENGAGED) { + max_color = whiteColor(); + } else if (status == STATUS_OVERRIDE) { + max_color = QColor(0x91, 0x9b, 0x95, 0xff); + } else if (speedLimit > 0) { + auto interp_color = [=](QColor c1, QColor c2, QColor c3) { + return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1; + }; + max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf)); + set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00)); + } + } else { + max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); + set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); + } + p.setFont(InterFont(40, QFont::DemiBold)); + p.setPen(max_color); + p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); + p.setFont(InterFont(90, QFont::Bold)); + p.setPen(set_speed_color); + p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); + } + + if (!speedLimitChanged && is_cruise_set && (setSpeed - mtscSpeed > 1 || setSpeed - vtscSpeed > 1) && !hideCSCUI) { + std::function drawCurveSpeedControl = [&](const QRect &rect, const QString &speedStr, bool isMtsc) { + if (isMtsc && !vtscControllingCurve) { + p.setPen(QPen(greenColor(), 10)); + p.setBrush(greenColor(166)); + p.setFont(InterFont(45, QFont::Bold)); + } else if (!isMtsc && vtscControllingCurve) { + p.setPen(QPen(redColor(), 10)); + p.setBrush(redColor(166)); + p.setFont(InterFont(45, QFont::Bold)); + } else { + p.setPen(QPen(blackColor(), 10)); + p.setBrush(blackColor(166)); + p.setFont(InterFont(35, QFont::DemiBold)); + } + + p.drawRoundedRect(rect, 24, 24); + + p.setPen(QPen(whiteColor(), 6)); + p.drawText(rect.adjusted(20, 0, 0, 0), Qt::AlignVCenter | Qt::AlignLeft, speedStr); + }; + + QRect curveSpeedRect(QPoint(set_speed_rect.right() + 25, set_speed_rect.top()), QSize(default_size.width() * 1.25, default_size.width() * 1.25)); + QPixmap scaledCurveSpeedIcon = (leftCurve ? curveSpeedLeftIcon : curveSpeedRightIcon).scaled(curveSpeedRect.size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); + + p.setOpacity(1.0); + p.drawPixmap(curveSpeedRect, scaledCurveSpeedIcon); + + if (mtscEnabled) { + QRect mtscRect(curveSpeedRect.topLeft() + QPoint(0, curveSpeedRect.height() + 10), QSize(curveSpeedRect.width(), vtscControllingCurve ? 50 : 100)); + drawCurveSpeedControl(mtscRect, mtscSpeedStr, true); + + if (vtscEnabled) { + QRect vtscRect(mtscRect.topLeft() + QPoint(0, mtscRect.height() + 20), QSize(mtscRect.width(), vtscControllingCurve ? 100 : 50)); + drawCurveSpeedControl(vtscRect, vtscSpeedStr, false); + } + } else if (vtscEnabled) { + QRect vtscRect(curveSpeedRect.topLeft() + QPoint(0, curveSpeedRect.height() + 10), QSize(curveSpeedRect.width(), 150)); + drawCurveSpeedControl(vtscRect, vtscSpeedStr, false); } - } else { - max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); - set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); } - p.setFont(InterFont(40, QFont::DemiBold)); - p.setPen(max_color); - p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); - p.setFont(InterFont(90, QFont::Bold)); - p.setPen(set_speed_color); - p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin); + p.save(); // US/Canada (MUTCD style) sign if (has_us_speed_limit) { p.setPen(Qt::NoPen); @@ -147,11 +241,44 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { p.setPen(QPen(blackColor(), 6)); p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16); - p.setFont(InterFont(28, QFont::DemiBold)); - p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED")); - p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); - p.setFont(InterFont(70, QFont::Bold)); - p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); + p.save(); + p.setOpacity(slcOverridden ? 0.25 : 1.0); + if (showSLCOffset && !slcOverridden) { + p.setFont(InterFont(28, QFont::DemiBold)); + p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); + p.setFont(InterFont(70, QFont::Bold)); + p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); + p.setFont(InterFont(50, QFont::DemiBold)); + p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr); + } else { + p.setFont(InterFont(28, QFont::DemiBold)); + p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED")); + p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); + p.setFont(InterFont(70, QFont::Bold)); + p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); + } + p.restore(); + + if (speedLimitChanged && !(setSpeed - mtscSpeed > 1 || setSpeed - vtscSpeed > 1)) { + QRect new_sign_rect(sign_rect.translated(sign_rect.width() + 25, 0)); + new_sign_rect.setWidth(newSpeedLimitStr.size() >= 3 ? 200 : 175); + + newSpeedLimitRect = new_sign_rect; + newSpeedLimitRect.setWidth(new_sign_rect.width()); + newSpeedLimitRect.setHeight(new_sign_rect.height()); + + p.setPen(Qt::NoPen); + p.setBrush(whiteColor()); + p.drawRoundedRect(new_sign_rect, 24, 24); + p.setPen(pendingLimitPenColor); + p.drawRoundedRect(new_sign_rect.adjusted(9, 9, -9, -9), 16, 16); + + p.setFont(InterFont(28, QFont::DemiBold)); + p.drawText(new_sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("PENDING")); + p.drawText(new_sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); + p.setFont(InterFont(70, QFont::Bold)); + p.drawText(new_sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, newSpeedLimitStr); + } } // EU (Vienna style) sign @@ -162,25 +289,137 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { p.setPen(QPen(Qt::red, 20)); p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16)); - p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); + p.setOpacity(slcOverridden ? 0.25 : 1.0); p.setPen(blackColor()); - p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr); + if (showSLCOffset) { + p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); + p.drawText(sign_rect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr); + p.setFont(InterFont(40, QFont::DemiBold)); + p.drawText(sign_rect.adjusted(0, 100, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr); + } else { + p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); + p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr); + } + + if (speedLimitChanged) { + QRect new_sign_rect(sign_rect.translated(sign_rect.width() + 25, 0)); + p.setPen(Qt::NoPen); + p.setBrush(whiteColor()); + p.drawEllipse(new_sign_rect); + p.setPen(QPen(Qt::red, 20)); + p.drawEllipse(new_sign_rect.adjusted(16, 16, -16, -16)); + + p.setOpacity(1.0); + p.setPen(pendingLimitPenColor); + p.setFont(InterFont((newSpeedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); + p.drawText(new_sign_rect, Qt::AlignCenter, newSpeedLimitStr); + } } + if (speedLimitSources && (has_eu_speed_limit || has_us_speed_limit)) { + std::function drawSource = [&](QRect &rect, const QPixmap &icon, const QString &title, double speedLimitValue) { + if (speedLimitSource == title.toStdString()) { + p.setPen(QPen(redColor(), 10)); + p.setBrush(redColor(166)); + + p.setFont(InterFont(35, QFont::Bold)); + } else { + p.setPen(QPen(blackColor(), 10)); + p.setBrush(blackColor(166)); + + p.setFont(InterFont(35, QFont::DemiBold)); + } + + QRect iconRect(rect.x() + 20, rect.y() + (rect.height() - img_size / 4) / 2, img_size / 4, img_size / 4); + + QPixmap scaledIcon = icon.scaled(iconRect.size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); + + QString speedText; + if (speedLimitValue > 1) { + speedText = QString::number(std::nearbyint(speedLimitValue)) + " " + speedUnit; + } else { + speedText = "N/A"; + } + + QString fullText = tr(title.toUtf8().constData()) + " - " + speedText; + + p.setOpacity(1.0); + p.drawRoundedRect(rect, 24, 24); + + p.drawPixmap(iconRect, scaledIcon); + + p.setPen(QPen(whiteColor(), 6)); + QRect textRect(iconRect.right() + 10, rect.y(), rect.width() - iconRect.width() - 30, rect.height()); + p.drawText(textRect, Qt::AlignVCenter | Qt::AlignLeft, fullText); + }; + + QRect dashboardRect(sign_rect.x() - sign_margin, sign_rect.y() + sign_rect.height() + 45, 500, 60); + QRect mapDataRect(dashboardRect.x(), dashboardRect.y() + dashboardRect.height() + 15, 500, 60); + QRect navigationRect(mapDataRect.x(), mapDataRect.y() + mapDataRect.height() + 15, 500, 60); + QRect upcomingLimitRect(navigationRect.x(), navigationRect.y() + navigationRect.height() + 15, 500, 60); + + drawSource(dashboardRect, dashboardIcon, "Dashboard", dashboardSpeedLimit); + drawSource(mapDataRect, mapDataIcon, "Map Data", mapsSpeedLimit); + drawSource(navigationRect, navigationIcon, "Navigation", navigationSpeedLimit); + drawSource(upcomingLimitRect, upcomingMapsIcon, "Upcoming", upcomingSpeedLimit); + } + + p.restore(); + // current speed - p.setFont(InterFont(176, QFont::Bold)); - drawText(p, rect().center().x(), 210, speedStr); - p.setFont(InterFont(66)); - drawText(p, rect().center().x(), 290, speedUnit, 200); + if (!(bigMapOpen || hideSpeed)) { + if (standstillDuration > 1) { + float transition = qBound(0.0f, standstillDuration / 120.0f, 1.0f); + QColor start, end; + + if (standstillDuration <= 60) { + start = end = bg_colors[STATUS_ENGAGED]; + } else if (standstillDuration <= 90) { + start = bg_colors[STATUS_ENGAGED]; + end = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]; + transition = (standstillDuration - 60) / 30.0f; + } else if (standstillDuration <= 120) { + start = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]; + end = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; + transition = (standstillDuration - 90) / 30.0f; + } else { + start = end = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; + transition = 0.0f; + } + + QColor blendedColor( + start.red() + transition * (end.red() - start.red()), + start.green() + transition * (end.green() - start.green()), + start.blue() + transition * (end.blue() - start.blue()) + ); + + p.setPen(QPen(blendedColor)); + + int minutes = standstillDuration / 60; + int seconds = standstillDuration % 60; + + p.setFont(InterFont(176, QFont::Bold)); + drawText(p, rect().center().x(), 210, minutes == 1 ? "1 minute" : QString("%1 minutes").arg(minutes), 255, true); + p.setFont(InterFont(66)); + drawText(p, rect().center().x(), 290, QString("%1 seconds").arg(seconds)); + } else { + p.setFont(InterFont(176, QFont::Bold)); + drawText(p, rect().center().x(), 210, speedStr); + p.setFont(InterFont(66)); + drawText(p, rect().center().x(), 290, speedUnit, 200); + } + } p.restore(); } -void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { +void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha, bool overridePen) { QRect real_rect = p.fontMetrics().boundingRect(text); real_rect.moveCenter({x, y - real_rect.height() / 2}); - p.setPen(QColor(0xff, 0xff, 0xff, alpha)); + if (!overridePen) { + p.setPen(QColor(0xff, 0xff, 0xff, alpha)); + } p.drawText(real_rect.x(), real_rect.bottom(), text); } @@ -213,7 +452,7 @@ void AnnotatedCameraWidget::updateFrameMat() { .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } -void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { +void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, float v_ego) { painter.save(); const UIScene &scene = s->scene; @@ -221,7 +460,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // lanelines for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) { - painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); + if (useStockColors) { + painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); + } else { + painter.setBrush(scene.lane_lines_color); + } painter.drawPolygon(scene.lane_line_vertices[i]); } @@ -233,32 +476,69 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, 0); - if (sm["controlsState"].getControlsState().getExperimentalMode()) { + if (experimentalMode || scene.acceleration_path || scene.rainbow_path) { // The first half of track_vertices are the points for the right side of the path // and the indices match the positions of accel from uiPlan - const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel(); - const int max_len = std::min(scene.track_vertices.length() / 2, acceleration.size()); + const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel(); + const int max_len = std::min(scene.track_vertices.length() / 2, acceleration_const.size()); + + // Copy of the acceleration vector + std::vector acceleration; + acceleration.reserve(acceleration_const.size()); + for (size_t i = 0; i < acceleration_const.size(); ++i) { + acceleration.push_back(acceleration_const[i]); + } + + const float hue_shift_speed = 0.5; // Adjust this value to control the speed of the rainbow scroll + static float hue_base = 0.0; // Base hue that changes over time + hue_base = fmod(hue_base + v_ego * hue_shift_speed, 360.0); // Update base hue to create scrolling effect for (int i = 0; i < max_len; ++i) { // Some points are out of frame - int track_idx = (scene.track_vertices.length() / 2) - i; // flip idx to start from top + int track_idx = max_len - i - 1; // flip idx to start from bottom right if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue; // Flip so 0 is bottom of frame float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height(); + float acceleration_abs = fabs(acceleration[i]); - // speed up: 120, slow down: 0 - float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); - // FIXME: painter.drawPolygon can be slow if hue is not rounded - path_hue = int(path_hue * 100 + 0.5) / 100; + if (acceleration_abs < 0.25 && scene.rainbow_path) { + float saturation = util::map_val(acceleration_abs, 0.0f, 1.0f, 0.6f, 0.8f); + float lightness = util::map_val(acceleration_abs, 0.0f, 1.0f, 0.7f, 0.5f); + float alpha = util::map_val(acceleration_abs, 0.0f, 1.0f, 0.5f, 0.8f); - float saturation = fmin(fabs(acceleration[i] * 1.5), 1); - float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey - float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade - bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); + float perspective_factor = lin_grad_point; + float rainbow_height = 0.1 + 0.4 * perspective_factor; - // Skip a point, unless next is last - i += (i + 2) < max_len ? 1 : 0; + for (int j = 0; j <= 50; ++j) { + float color_position = static_cast(j) / 50.0; + if (color_position >= lin_grad_point - rainbow_height / 2 && color_position <= lin_grad_point + rainbow_height / 2) { + float hue = fmod(hue_base + color_position * 360.0, 360.0); + QColor rainbow_color = QColor::fromHslF(hue / 360.0, saturation, lightness, alpha); + bg.setColorAt(color_position, rainbow_color); + } + } + } else if (acceleration_abs < 0.25 && !useStockColors) { + QColor color = scene.path_color; + bg.setColorAt(0.0f, color); + color.setAlphaF(0.5f); + bg.setColorAt(0.5f, color); + color.setAlphaF(0.1f); + bg.setColorAt(1.0f, color); + } else { + // speed up: 120, slow down: 0 + float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); + // FIXME: painter.drawPolygon can be slow if hue is not rounded + path_hue = int(path_hue * 100 + 0.5) / 100; + + float saturation = fmin(fabs(acceleration[i] * 1.5), 1); + float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey + float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade + bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); + + // Skip a point, unless next is last + i += (i + 2) < max_len ? 1 : 0; + } } } else { @@ -270,6 +550,114 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.setBrush(bg); painter.drawPolygon(scene.track_vertices); + if (scene.show_stopping_point && scene.red_light && speed > 1 && !(conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5)) { + QPointF last_point = scene.track_vertices.last(); + QPointF adjusted_point = last_point - QPointF(stopSignImg.width() / 2, stopSignImg.height()); + painter.drawPixmap(adjusted_point, stopSignImg); + + if (scene.show_stopping_point_metrics) { + QFont font = InterFont(35, QFont::DemiBold); + QString text = QString::number(std::nearbyint(modelLength * distanceConversion)) + leadDistanceUnit; + int text_width = QFontMetrics(font).horizontalAdvance(text); + QPointF text_position = last_point - QPointF(text_width / 2, stopSignImg.height() + 35); + + painter.save(); + painter.setFont(font); + painter.setPen(Qt::white); + painter.drawText(text_position, text); + painter.restore(); + } + } + + // Paint blindspot path + if (scene.blind_spot_path) { + QLinearGradient bs(0, height(), 0, 0); + + bs.setColorAt(0.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.6f)); + bs.setColorAt(0.5f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.4f)); + bs.setColorAt(1.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.2f)); + + painter.setBrush(bs); + if (blindSpotLeft) { + painter.drawPolygon(scene.track_adjacent_vertices[4]); + } + if (blindSpotRight) { + painter.drawPolygon(scene.track_adjacent_vertices[5]); + } + } + + // Paint adjacent lane paths + if ((scene.adjacent_path || scene.adjacent_path_metrics) && v_ego >= scene.minimum_lane_change_speed) { + QLinearGradient ap(0, height(), 0, 0); + + std::function setAdjacentPathColors = [&](float hue) { + ap.setColorAt(0.0f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.6f)); + ap.setColorAt(0.5f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.4f)); + ap.setColorAt(1.0f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.2f)); + }; + + std::function drawAdjacentLane = [&](const QPolygonF &lane, float laneWidth, bool isBlindSpot) { + if (isBlindSpot) { + setAdjacentPathColors(0.0f); + } else { + float hue = 120.0f * (1 - fmin(fabs(laneWidth - laneDetectionWidth) / (laneDetectionWidth / 2), 1)); + setAdjacentPathColors(hue); + } + + painter.setBrush(ap); + painter.drawPolygon(lane); + + if (scene.adjacent_path_metrics) { + painter.setFont(InterFont(30, QFont::DemiBold)); + painter.setPen(Qt::white); + + QString text = isBlindSpot ? tr("Vehicle in blind spot") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit; + painter.drawText(lane.boundingRect(), Qt::AlignCenter, text); + painter.setPen(Qt::NoPen); + } + }; + + drawAdjacentLane(scene.track_adjacent_vertices[4], scene.lane_width_left, blindSpotLeft); + drawAdjacentLane(scene.track_adjacent_vertices[5], scene.lane_width_right, blindSpotRight); + } + + // Paint path edges + QLinearGradient pe(0, height(), 0, 0); + + std::function setPathEdgeColors = [&](QLinearGradient &gradient, const QColor &baseColor) { + gradient.setColorAt(0.0f, baseColor); + QColor color = baseColor; + color.setAlphaF(0.5f); + gradient.setColorAt(0.5f, color); + color.setAlphaF(0.1f); + gradient.setColorAt(1.0f, color); + }; + + if (scene.always_on_lateral_active) { + setPathEdgeColors(pe, bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]); + } else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) { + setPathEdgeColors(pe, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]); + } else if (experimentalMode) { + setPathEdgeColors(pe, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]); + } else if (trafficModeActive) { + setPathEdgeColors(pe, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]); + } else if (modelLength > scene.upcoming_maneuver_distance && scene.upcoming_maneuver_distance > 1) { + setPathEdgeColors(pe, bg_colors[STATUS_NAVIGATION_ACTIVE]); + } else if (!useStockColors) { + setPathEdgeColors(pe, scene.path_edges_color); + } else { + pe.setColorAt(0.0f, QColor::fromHslF(148 / 360.0f, 0.94f, 0.51f, 1.0f)); + pe.setColorAt(0.5f, QColor::fromHslF(112 / 360.0f, 1.00f, 0.68f, 0.5f)); + pe.setColorAt(1.0f, QColor::fromHslF(112 / 360.0f, 1.00f, 0.68f, 0.1f)); + } + + QPainterPath path; + path.addPolygon(scene.track_vertices); + path.addPolygon(scene.track_edge_vertices); + + painter.setBrush(pe); + painter.drawPath(path); + painter.restore(); } @@ -281,9 +669,16 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) // base icon int offset = UI_BORDER_SIZE + btn_size / 2; int x = rightHandDM ? width() - offset : offset; + if (rightHandDM && map_settings_btn->isEnabled() && !hideMapIcon) { + x -= 250; + } else if (onroadDistanceButton) { + x += 250; + } int y = height() - offset; + dmIconPosition.setX(x); + dmIconPosition.setY(y); float opacity = dmActive ? 0.65 : 0.2; - drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity); + drawIcon(painter, dmIconPosition, dm_img, blackColor(70), opacity); // face QPointF face_kpts_draw[std::size(default_face_kpts_3d)]; @@ -314,12 +709,12 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) painter.restore(); } -void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) { +void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor &lead_marker_color, bool adjacent) { painter.save(); const float speedBuff = 10.; - const float leadBuff = 40.; - const float d_rel = lead_data.getDRel(); + const float leadBuff = adjacent ? 100. : 40.; + const float d_rel = lead_data.getDRel() + (adjacent ? fabs(lead_data.getYRel()) : 0); const float v_rel = lead_data.getVRel(); float fillAlpha = 0; @@ -331,7 +726,7 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState fillAlpha = (int)(fmin(fillAlpha, 255)); } - float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; + float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), adjacent ? 10.0f : 15.0f, adjacent ? 20.0f : 30.0f) * 2.35; float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2); float y = std::fmin(height() - sz * .6, (float)vd.y()); @@ -344,17 +739,68 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState // chevron QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}}; - painter.setBrush(redColor(fillAlpha)); + if (!adjacent && useStockColors) { + painter.setBrush(redColor(fillAlpha)); + } else { + painter.setBrush(QColor(lead_marker_color.red(), lead_marker_color.green(), lead_marker_color.blue(), fillAlpha)); + } painter.drawPolygon(chevron, std::size(chevron)); + if (leadInfo) { + float lead_speed = std::max(v_rel + v_ego, 0.0f); + + painter.setPen(Qt::white); + painter.setFont(InterFont(35, QFont::Bold)); + + QString text; + if (adjacent) { + text = QString("%1 %2 | %3 %4") + .arg(qRound(d_rel * distanceConversion)) + .arg(leadDistanceUnit) + .arg(qRound(lead_speed * speedConversionMetrics)) + .arg(leadSpeedUnit); + } else { + text = QString("%1 %2 (%3) | %4 %5 | %6%7") + .arg(qRound(d_rel * distanceConversion)) + .arg(leadDistanceUnit) + .arg(QString("Desired: %1").arg(desiredFollow * distanceConversion)) + .arg(qRound(lead_speed * speedConversionMetrics)) + .arg(leadSpeedUnit) + .arg(QString::number(std::max(d_rel / std::max(v_ego, 1.0f), 1.0f), 'f', 2)) + .arg("s"); + } + + QFontMetrics metrics(painter.font()); + int middle_x = (chevron[2].x() + chevron[0].x()) / 2; + int textHeight = metrics.height(); + int textWidth = metrics.horizontalAdvance(text); + int text_x = middle_x - textWidth / 2; + int text_y = chevron[0].y() + textHeight + 5; + + if (!adjacent) { + lead_x = x + text_x + textWidth; + lead_y = y + text_y + textHeight; + } + + if (!adjacent || fabs((x + text_x + textWidth) - lead_x) >= textWidth * 1.25 || fabs((y + text_y + textHeight) - lead_y) >= textHeight * 2) { + painter.drawText(text_x, text_y, text); + } + } + painter.restore(); } void AnnotatedCameraWidget::paintGL() { +} + +void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) { UIState *s = uiState(); SubMaster &sm = *(s->sm); + QPainter painter(this); + painter.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing); const double start_draw_t = millis_since_boot(); const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); + const float v_ego = sm["carState"].getCarState().getVEgo(); // draw camera frame { @@ -375,18 +821,19 @@ void AnnotatedCameraWidget::paintGL() { // Wide or narrow cam dependent on speed bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); - if (has_wide_cam) { - float v_ego = sm["carState"].getCarState().getVEgo(); + if (has_wide_cam && cameraView == 0) { if ((v_ego < 10) || available_streams.size() == 1) { wide_cam_requested = true; } else if (v_ego > 15) { wide_cam_requested = false; } - wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); + wide_cam_requested = wide_cam_requested && experimentalMode; // for replay of old routes, never go to widecam wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; } - CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); + CameraWidget::setStreamType(cameraView == 1 ? VISION_STREAM_DRIVER : + cameraView == 3 || wide_cam_requested ? VISION_STREAM_WIDE_ROAD : + VISION_STREAM_ROAD); s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; if (s->scene.calibration_valid) { @@ -395,28 +842,46 @@ void AnnotatedCameraWidget::paintGL() { } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } + painter.beginNativePainting(); CameraWidget::setFrameId(model.getFrameId()); CameraWidget::paintGL(); + painter.endNativePainting(); } - QPainter painter(this); - painter.setRenderHint(QPainter::Antialiasing); painter.setPen(Qt::NoPen); if (s->scene.world_objects_visible) { update_model(s, model, sm["uiPlan"].getUiPlan()); - drawLaneLines(painter, s); + drawLaneLines(painter, s, v_ego); - if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) { + if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame && !s->scene.hide_lead_marker) { auto radar_state = sm["radarState"].getRadarState(); update_leads(s, radar_state, model.getPosition()); auto lead_one = radar_state.getLeadOne(); auto lead_two = radar_state.getLeadTwo(); - if (lead_one.getStatus()) { - drawLead(painter, lead_one, s->scene.lead_vertices[0]); + auto lead_left = radar_state.getLeadLeft(); + auto lead_right = radar_state.getLeadRight(); + auto lead_left_far = radar_state.getLeadLeftFar(); + auto lead_right_far = radar_state.getLeadRightFar(); + if (lead_two.getStatus()) { + drawLead(painter, lead_two, s->scene.lead_vertices[1], v_ego, s->scene.lead_marker_color); + } else if (lead_one.getStatus()) { + drawLead(painter, lead_one, s->scene.lead_vertices[0], v_ego, s->scene.lead_marker_color); + } else { + lead_x = 0; + lead_y = 0; } - if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) { - drawLead(painter, lead_two, s->scene.lead_vertices[1]); + if (lead_left.getStatus()) { + drawLead(painter, lead_left, s->scene.lead_vertices[2], v_ego, blueColor(), true); + } + if (lead_right.getStatus()) { + drawLead(painter, lead_right, s->scene.lead_vertices[3], v_ego, purpleColor(), true); + } + if (lead_left_far.getStatus()) { + drawLead(painter, lead_left_far, s->scene.lead_vertices[4], v_ego, orangeColor(), true); + } + if (lead_right_far.getStatus()) { + drawLead(painter, lead_right_far, s->scene.lead_vertices[5], v_ego, redColor(), true); } } } @@ -432,6 +897,7 @@ void AnnotatedCameraWidget::paintGL() { double cur_draw_t = millis_since_boot(); double dt = cur_draw_t - prev_draw_t; double fps = fps_filter.update(1. / dt * 1000); + s->scene.fps = fps; if (fps < 15) { LOGW("slow frame rate: %.2f fps", fps); } @@ -442,6 +908,9 @@ void AnnotatedCameraWidget::paintGL() { auto m = msg.initEvent().initUiDebug(); m.setDrawTimeMillis(cur_draw_t - start_draw_t); pm->send("uiDebug", msg); + + // Paint FrogPilot widgets + paintFrogPilotWidgets(painter); } void AnnotatedCameraWidget::showEvent(QShowEvent *event) { @@ -449,4 +918,385 @@ void AnnotatedCameraWidget::showEvent(QShowEvent *event) { ui_update_params(uiState()); prev_draw_t = millis_since_boot(); + + // FrogPilot variables + distance_btn->updateIcon(); + experimental_btn->updateIcon(); + updateSignals(); +} + +// FrogPilot widgets +void AnnotatedCameraWidget::updateSignals() { + blindspotImages.clear(); + signalImages.clear(); + + QDir directory("../frogpilot/assets/active_theme/signals/"); + QFileInfoList allFiles = directory.entryInfoList(QDir::Files | QDir::NoDotAndDotDot, QDir::Name); + + bool isGif = false; + for (QFileInfo &fileInfo : allFiles) { + if (fileInfo.fileName().endsWith(".gif", Qt::CaseInsensitive)) { + QMovie movie(fileInfo.absoluteFilePath()); + movie.start(); + + for (int frameIndex = 0; frameIndex < movie.frameCount(); ++frameIndex) { + movie.jumpToFrame(frameIndex); + QPixmap currentFrame = movie.currentPixmap(); + signalImages.push_back(currentFrame); + signalImages.push_back(currentFrame.transformed(QTransform().scale(-1, 1))); + } + + movie.stop(); + isGif = true; + + } else if (fileInfo.fileName().endsWith(".png", Qt::CaseInsensitive)) { + QVector *targetList = fileInfo.fileName().contains("blindspot") ? &blindspotImages : &signalImages; + QPixmap pixmap(fileInfo.absoluteFilePath()); + targetList->push_back(pixmap); + targetList->push_back(pixmap.transformed(QTransform().scale(-1, 1))); + + } else { + QStringList parts = fileInfo.fileName().split('_'); + if (parts.size() == 2) { + signalStyle = parts[0]; + signalAnimationLength = parts[1].toInt(); + } + } + } + + if (!signalImages.empty()) { + QPixmap &firstImage = signalImages.front(); + signalWidth = firstImage.width(); + signalHeight = firstImage.height(); + totalFrames = signalImages.size() / 2; + turnSignalAnimation = true; + + if (isGif && signalStyle == "traditional") { + signalMovement = (this->size().width() + (signalWidth * 2)) / totalFrames; + signalStyle = "traditional_gif"; + } else { + signalMovement = 0; + } + } else { + signalWidth = 0; + signalHeight = 0; + totalFrames = 0; + turnSignalAnimation = false; + } +} + +void AnnotatedCameraWidget::initializeFrogPilotWidgets() { + distance_btn = new DistanceButton(this); + main_layout->addWidget(distance_btn, 0, Qt::AlignBottom | Qt::AlignLeft); + + chillModeIcon = loadPixmap("../frogpilot/assets/other_images/chill_mode_icon.png", {img_size / 2, img_size / 2}); + curveIcon = loadPixmap("../frogpilot/assets/other_images/curve_icon.png", {img_size / 2, img_size / 2}); + curveSpeedLeftIcon = loadPixmap("../frogpilot/assets/other_images/curve_speed_left.png", {img_size, img_size}); + curveSpeedRightIcon = loadPixmap("../frogpilot/assets/other_images/curve_speed_right.png", {img_size, img_size}); + dashboardIcon = loadPixmap("../frogpilot/assets/other_images/dashboard_icon.png", {img_size / 2, img_size / 2}); + experimentalModeIcon = loadPixmap("../assets/img_experimental.svg", {img_size / 2, img_size / 2}); + leadIcon = loadPixmap("../frogpilot/assets/other_images/lead_icon.png", {img_size / 2, img_size / 2}); + lightIcon = loadPixmap("../frogpilot/assets/other_images/light_icon.png", {img_size / 2, img_size / 2}); + mapDataIcon = loadPixmap("../frogpilot/assets/other_images/offline_maps_icon.png", {img_size / 2, img_size / 2}); + navigationIcon = loadPixmap("../frogpilot/assets/other_images/navigation_icon.png", {img_size / 2, img_size / 2}); + speedIcon = loadPixmap("../frogpilot/assets/other_images/speed_icon.png", {img_size / 2, img_size / 2}); + stopSignImg = loadPixmap("../frogpilot/assets/other_images/stop_sign.png", {img_size, img_size}); + turnIcon = loadPixmap("../frogpilot/assets/other_images/turn_icon.png", {img_size / 2, img_size / 2}); + upcomingMapsIcon = loadPixmap("../frogpilot/assets/other_images/upcoming_maps_icon.png", {img_size / 2, img_size / 2}); + + animationTimer = new QTimer(this); + QObject::connect(animationTimer, &QTimer::timeout, [this] { + animationFrameIndex = (animationFrameIndex + 1) % totalFrames; + }); + + QObject::connect(uiState(), &UIState::themeUpdated, this, &AnnotatedCameraWidget::updateSignals); + QObject::connect(uiState(), &UIState::themeUpdated, distance_btn, &DistanceButton::updateIcon); + QObject::connect(uiState(), &UIState::themeUpdated, experimental_btn, &ExperimentalButton::updateIcon); +} + +void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIScene &scene) { + if (is_metric || useSI) { + accelerationUnit = tr("m/s²"); + leadDistanceUnit = tr(mapOpen ? "m" : "meters"); + leadSpeedUnit = useSI ? tr("m/s") : tr("kph"); + + accelerationConversion = 1.0f; + distanceConversion = 1.0f; + speedConversion = is_metric ? MS_TO_KPH : MS_TO_MPH; + speedConversionMetrics = useSI ? 1.0f : MS_TO_KPH; + } else { + accelerationUnit = tr("ft/s²"); + leadDistanceUnit = tr(mapOpen ? "ft" : "feet"); + leadSpeedUnit = tr("mph"); + + accelerationConversion = METER_TO_FOOT; + distanceConversion = METER_TO_FOOT; + speedConversion = MS_TO_MPH; + speedConversionMetrics = MS_TO_MPH; + } + + alertHeight = alert_height; + + blindSpotLeft = scene.blind_spot_left; + blindSpotRight = scene.blind_spot_right; + + cameraView = scene.camera_view; + + cemStatus = scene.cem_status; + conditionalStatus = scene.conditional_status; + + compass = scene.compass; + + desiredFollow = scene.desired_follow; + + experimentalMode = scene.experimental_mode; + + hideCSCUI = scene.hide_csc_ui; + hideMapIcon = scene.hide_map_icon; + hideMaxSpeed = scene.hide_max_speed; + hideSpeed = scene.hide_speed; + hideSpeedLimit = scene.hide_speed_limit; + + laneDetectionWidth = scene.lane_detection_width; + + leadInfo = scene.lead_metrics; + + leftCurve = scene.left_curve; + + mapOpen = scene.map_open; + bigMapOpen = mapOpen && scene.big_map; + + modelLength = scene.model_length; + + mtscEnabled = scene.mtsc_enabled; + mtscSpeed = mtscEnabled ? scene.mtsc_speed * speedConversion : setSpeed; + + onroadDistanceButton = scene.onroad_distance_button; + bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons; + distance_btn->setVisible(enableDistanceButton); + if (enableDistanceButton) { + distance_btn->updateState(scene); + } + + bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen; + pedal_icons->setVisible(enablePedalIcons); + if (enablePedalIcons) { + pedal_icons->updateState(scene); + } + + roadNameUI = scene.road_name_ui; + + bool enableScreenRecorder = scene.screen_recorder && !mapOpen; + screenRecorder->setVisible(enableScreenRecorder); + if (enableScreenRecorder) { + screenRecorder->updateScreen(scene.fps, scene.started); + } + + dashboardSpeedLimit = scene.dashboard_speed_limit * speedConversion; + mapsSpeedLimit = scene.speed_limit_map * speedConversion; + navigationSpeedLimit = scene.navigation_speed_limit * speedConversion; + showSLCOffset = scene.show_speed_limit_offset; + slcOverridden = scene.speed_limit_overridden; + slcSpeedLimitOffset = scene.speed_limit_offset * speedConversion; + speedLimitChanged = scene.speed_limit_changed; + speedLimitSource = scene.speed_limit_source; + speedLimitSources = scene.speed_limit_sources; + unconfirmedSpeedLimit = scene.unconfirmed_speed_limit * speedConversion; + upcomingSpeedLimit = scene.upcoming_speed_limit * speedConversion; + useViennaSLCSign = scene.speed_limit_vienna; + + bool stoppedTimer = scene.stopped_timer && scene.standstill && scene.started_timer / UI_FREQ >= 10 && !mapOpen; + static QElapsedTimer standstillTimer; + if (stoppedTimer) { + if (!standstillTimer.isValid()) { + standstillTimer.start(); + } + standstillDuration = standstillTimer.elapsed() / 1000.0; + } else { + standstillDuration = 0; + standstillTimer.invalidate(); + } + + trafficModeActive = scene.traffic_mode_active; + + turnSignalLeft = scene.turn_signal_left; + turnSignalRight = scene.turn_signal_right; + + useSI = scene.use_si_metrics; + + useStockColors = scene.use_stock_colors; + + vtscControllingCurve = scene.vtsc_controlling_curve; + vtscEnabled = scene.vtsc_enabled; + vtscSpeed = vtscEnabled ? scene.vtsc_speed * speedConversion : setSpeed; +} + +void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter) { + if (cemStatus && !mapOpen && !hideBottomIcons) { + drawCEMStatus(painter); + } + + if (roadNameUI && !bigMapOpen) { + drawRoadName(painter); + } + + if (turnSignalAnimation && (turnSignalLeft || turnSignalRight) && !bigMapOpen && ((!mapOpen && standstillDuration == 0) || signalStyle != "static")) { + if (!animationTimer->isActive()) { + animationTimer->start(signalAnimationLength); + } + drawTurnSignals(painter); + } else if (animationTimer->isActive()) { + animationTimer->stop(); + } +} + +void AnnotatedCameraWidget::drawCEMStatus(QPainter &p) { + if (dmIconPosition == QPoint(0, 0)) { + return; + } + + p.save(); + p.setOpacity(1.0); + + QRect cemWidget(dmIconPosition.x() + (rightHandDM ? -img_size : img_size), dmIconPosition.y() - img_size / 2, img_size, img_size); + if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) { + p.setPen(QPen(QColor(bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]), 10)); + } else if (experimentalMode) { + p.setPen(QPen(QColor(bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]), 10)); + } else { + p.setPen(QPen(blackColor(), 10)); + } + p.setBrush(blackColor(166)); + p.drawRoundedRect(cemWidget, 24, 24); + + QSize iconSize(cemWidget.size().width() - 10, cemWidget.size().height() - 10); + QPixmap iconToDraw; + if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) { + iconToDraw = chillModeIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else if (conditionalStatus == 2 || conditionalStatus == 4 || conditionalStatus == 6) { + iconToDraw = experimentalModeIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else if (conditionalStatus == 7 || conditionalStatus == 8) { + iconToDraw = speedIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else if (conditionalStatus == 9 || conditionalStatus == 11) { + iconToDraw = turnIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else if (conditionalStatus == 10 || conditionalStatus == 15 || conditionalStatus == 16) { + iconToDraw = lightIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else if (conditionalStatus == 12) { + iconToDraw = curveIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else if (conditionalStatus == 13 || conditionalStatus == 14) { + iconToDraw = leadIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } else { + iconToDraw = chillModeIcon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + } + p.drawPixmap(QRect(cemWidget.center() - QPoint(iconToDraw.width() / 2, iconToDraw.height() / 2), iconToDraw.size()), iconToDraw); + + p.restore(); +} + +PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent) { + setFixedSize(btn_size, btn_size); + + brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", {img_size, img_size}); + gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", {img_size, img_size}); +} + +void PedalIcons::updateState(const UIScene &scene) { + acceleration = scene.acceleration; + brakeLightOn = scene.brake_lights_on; + dynamicPedals = scene.dynamic_pedals_on_ui; + standstill = scene.standstill; + staticPedals = scene.static_pedals_on_ui; + + accelerating = acceleration > 0.25f; + decelerating = acceleration < -0.25f; +} + +void PedalIcons::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + + int totalWidth = 2 * img_size; + int startX = (width() - totalWidth) / 2; + + int brakeX = startX + img_size / 2; + int gasX = startX + img_size; + + float brakeOpacity = 1.0f; + float gasOpacity = 1.0f; + + if (dynamicPedals) { + brakeOpacity = standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f; + gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f; + } else if (staticPedals) { + brakeOpacity = standstill || brakeLightOn || acceleration < -0.5f ? 1.0f : 0.25f; + gasOpacity = !standstill && acceleration > 0 ? 1.0f : 0.25f; + } + + p.setOpacity(brakeOpacity); + p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img); + + p.setOpacity(gasOpacity); + p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img); +} + +void AnnotatedCameraWidget::drawRoadName(QPainter &p) { + QString roadName = QString::fromStdString(params_memory.get("RoadName")); + if (roadName.isEmpty()) { + return; + } + + QFont font = InterFont(40, QFont::DemiBold); + int textWidth = QFontMetrics(font).horizontalAdvance(roadName); + + p.save(); + + QRect roadNameRect((width() - textWidth * 1.25) / 2, rect().bottom() - 55 + 1, textWidth * 1.25, 50); + + p.setBrush(blackColor(166)); + p.setOpacity(1.0); + p.setPen(QPen(blackColor(), 10)); + p.drawRoundedRect(roadNameRect, 24, 24); + + p.setFont(font); + p.setPen(QPen(Qt::white, 6)); + p.drawText(roadNameRect, Qt::AlignCenter, roadName); + + p.restore(); +} + +void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) { + bool blindspotActive = turnSignalLeft ? blindSpotLeft : blindSpotRight; + + if (signalStyle == "static") { + int signalXPosition = turnSignalLeft ? (rect().center().x() * 0.75) - signalWidth : rect().center().x() * 1.25; + int signalYPosition = signalHeight / 2; + + if (blindspotActive && !blindspotImages.empty()) { + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); + } else { + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); + } + } else if (signalStyle == "traditional") { + int signalXPosition = turnSignalLeft ? width() - ((animationFrameIndex + 1) * signalWidth) : animationFrameIndex * signalWidth; + int signalYPosition = height() - signalHeight; + + signalYPosition -= alertHeight; + + if (blindspotActive && !blindspotImages.empty()) { + p.drawPixmap(turnSignalLeft ? width() - signalWidth : 0, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); + } else { + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); + } + } else if (signalStyle == "traditional_gif") { + int signalXPosition = turnSignalLeft ? width() - (animationFrameIndex * signalMovement) + signalWidth : (animationFrameIndex * signalMovement) - signalWidth; + int signalYPosition = height() - signalHeight; + + signalYPosition -= alertHeight; + + if (blindspotActive && !blindspotImages.empty()) { + p.drawPixmap(turnSignalLeft ? width() - signalWidth : 0, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); + } else { + p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); + } + } } diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h index 0be4adfff..d070caf05 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ b/selfdrive/ui/qt/onroad/annotated_camera.h @@ -6,17 +6,49 @@ #include "selfdrive/ui/qt/onroad/buttons.h" #include "selfdrive/ui/qt/widgets/cameraview.h" +#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" + +class PedalIcons : public QWidget { + Q_OBJECT + +public: + explicit PedalIcons(QWidget *parent = 0); + void updateState(const UIScene &scene); + +private: + void paintEvent(QPaintEvent *event) override; + + QPixmap brake_pedal_img; + QPixmap gas_pedal_img; + + bool accelerating; + bool brakeLightOn; + bool decelerating; + bool dynamicPedals; + bool standstill; + bool staticPedals; + + float acceleration; +}; + class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT public: explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); - void updateState(const UIState &s); + void updateState(int alert_height, const UIState &s); MapSettingsButton *map_settings_btn; + // FrogPilot variables + QRect newSpeedLimitRect; + + QString accelerationUnit; + + float accelerationConversion; + private: - void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); + void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255, bool overridePen = false); QVBoxLayout *main_layout; ExperimentalButton *experimental_btn; @@ -40,15 +72,125 @@ private: int skip_frame_count = 0; bool wide_cam_requested = false; + // FrogPilot widgets + void drawCEMStatus(QPainter &p); + void drawRoadName(QPainter &p); + void drawTurnSignals(QPainter &p); + void initializeFrogPilotWidgets(); + void paintFrogPilotWidgets(QPainter &painter); + void updateFrogPilotVariables(int alert_height, const UIScene &scene); + void updateSignals(); + + // FrogPilot variables + Params params_memory{"/dev/shm/params"}; + + DistanceButton *distance_btn; + PedalIcons *pedal_icons; + ScreenRecorder *screenRecorder; + + QPixmap chillModeIcon; + QPixmap curveIcon; + QPixmap curveSpeedLeftIcon; + QPixmap curveSpeedRightIcon; + QPixmap dashboardIcon; + QPixmap experimentalModeIcon; + QPixmap leadIcon; + QPixmap lightIcon; + QPixmap mapDataIcon; + QPixmap navigationIcon; + QPixmap speedIcon; + QPixmap stopSignImg; + QPixmap turnIcon; + QPixmap upcomingMapsIcon; + + QPoint dmIconPosition; + + QString leadDistanceUnit; + QString leadSpeedUnit; + QString signalStyle; + + QTimer *animationTimer; + + QVector blindspotImages; + QVector signalImages; + + bool bigMapOpen; + bool blindSpotLeft; + bool blindSpotRight; + bool cemStatus; + bool compass; + bool experimentalMode; + bool hideCSCUI; + bool hideMapIcon; + bool hideMaxSpeed; + bool hideSpeed; + bool hideSpeedLimit; + bool leadInfo; + bool leftCurve; + bool mapOpen; + bool mtscEnabled; + bool onroadDistanceButton; + bool roadNameUI; + bool showSLCOffset; + bool slcOverridden; + bool speedLimitChanged; + bool speedLimitSources; + bool trafficModeActive; + bool turnSignalAnimation; + bool turnSignalLeft; + bool turnSignalRight; + bool useStockColors; + bool useSI; + bool useViennaSLCSign; + bool vtscControllingCurve; + bool vtscEnabled; + + float dashboardSpeedLimit; + float distanceConversion; + float laneDetectionWidth; + float lead_x; + float lead_y; + float mapsSpeedLimit; + float mtscSpeed; + float navigationSpeedLimit; + float slcSpeedLimitOffset; + float speedConversion; + float speedConversionMetrics; + float unconfirmedSpeedLimit; + float upcomingSpeedLimit; + float vtscSpeed; + + int alertHeight; + int animationFrameIndex; + int cameraView; + int conditionalStatus; + int desiredFollow; + int modelLength; + int signalAnimationLength; + int signalHeight; + int signalMovement; + int signalWidth; + int standstillDuration; + int totalFrames; + + std::string speedLimitSource; + + inline QColor blueColor(int alpha = 255) { return QColor(0, 0, 255, alpha); } + inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); } + inline QColor orangeColor(int alpha = 255) { return QColor(255, 165, 0, alpha); } + inline QColor purpleColor(int alpha = 255) { return QColor(128, 0, 128, alpha); } + inline QColor yellowColor(int alpha = 255) { return QColor(255, 255, 0, alpha); } + protected: void paintGL() override; void initializeGL() override; void showEvent(QShowEvent *event) override; void updateFrameMat() override; - void drawLaneLines(QPainter &painter, const UIState *s); - void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd); + void drawLaneLines(QPainter &painter, const UIState *s, float v_ego); + void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor &lead_marker_color, bool adjacent = false); void drawHud(QPainter &p); void drawDriverState(QPainter &painter, const UIState *s); + void paintEvent(QPaintEvent *event) override; inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc index 75ec31617..c1d5d8e48 100644 --- a/selfdrive/ui/qt/onroad/buttons.cc +++ b/selfdrive/ui/qt/onroad/buttons.cc @@ -4,53 +4,179 @@ #include "selfdrive/ui/qt/util.h" -void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity) { +void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity, const int angle) { p.setRenderHint(QPainter::Antialiasing); p.setOpacity(1.0); // bg dictates opacity of ellipse p.setPen(Qt::NoPen); p.setBrush(bg); p.drawEllipse(center, btn_size / 2, btn_size / 2); + p.save(); + p.translate(center); + p.rotate(angle); p.setOpacity(opacity); - p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img); + p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img); p.setOpacity(1.0); + p.restore(); } // ExperimentalButton ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) { - setFixedSize(btn_size, btn_size); + setFixedSize(btn_size, btn_size + 10); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size}); QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode); + + // FrogPilot variables + wheel_gif_path = "../frogpilot/assets/active_theme/steering_wheel/wheel.gif"; + wheel_png_path = "../frogpilot/assets/active_theme/steering_wheel/wheel.png"; + + gif_label = new QLabel(this); + gif_label->setScaledContents(true); +} + +ExperimentalButton::~ExperimentalButton() { + if (gif != nullptr) { + gif->stop(); + delete gif; + gif = nullptr; + gif_label->hide(); + } } void ExperimentalButton::changeMode() { const auto cp = (*uiState()->sm)["carParams"].getCarParams(); bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed"); if (can_change) { - params.putBool("ExperimentalMode", !experimental_mode); + if (conditional_experimental) { + int override_value = (conditional_status >= 1 && conditional_status <= 6) ? 0 : conditional_status >= 7 ? 5 : 6; + params_memory.putInt("CEStatus", override_value); + } else { + params.putBool("ExperimentalMode", !experimental_mode); + } } } void ExperimentalButton::updateState(const UIState &s) { const auto cs = (*s.sm)["controlsState"].getControlsState(); - bool eng = cs.getEngageable() || cs.getEnabled(); + bool eng = cs.getEngageable() || cs.getEnabled() || always_on_lateral_active; if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) { engageable = eng; experimental_mode = cs.getExperimentalMode(); update(); } + + // FrogPilot variables + const UIScene &scene = s.scene; + + always_on_lateral_active = scene.always_on_lateral_active; + big_map = scene.big_map; + conditional_experimental = scene.conditional_experimental; + conditional_status = scene.conditional_status; + map_open = scene.map_open; + navigate_on_openpilot = scene.navigate_on_openpilot; + rotating_wheel = scene.rotating_wheel; + traffic_mode_active = scene.traffic_mode_active; + use_stock_wheel = scene.use_stock_wheel; + + if (rotating_wheel && steering_angle_deg != scene.steering_angle_deg) { + steering_angle_deg = scene.steering_angle_deg; + update(); + } else if (!rotating_wheel) { + steering_angle_deg = 0; + } + + if (params_memory.getBool("UpdateWheelImage")) { + updateIcon(); + params_memory.remove("UpdateWheelImage"); + } +} + +void ExperimentalButton::updateBackgroundColor() { + static const QMap status_color_map { + {"default", QColor(0, 0, 0, 166)}, + {"always_on_lateral_active", bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]}, + {"conditional_overridden", bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]}, + {"experimental_mode_active", bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]}, + {"navigation_active", bg_colors[STATUS_NAVIGATION_ACTIVE]}, + {"traffic_mode_active", bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]} + }; + + if (isDown() || !engageable || use_stock_wheel) { + background_color = status_color_map["default"]; + return; + } + + if (always_on_lateral_active) { + background_color = status_color_map["always_on_lateral_active"]; + } else if (conditional_status == 1 || conditional_status == 3 || conditional_status == 5) { + background_color = status_color_map["conditional_overridden"]; + } else if (experimental_mode) { + background_color = status_color_map["experimental_mode_active"]; + } else if (navigate_on_openpilot) { + background_color = status_color_map["navigation_active"]; + } else if (traffic_mode_active) { + background_color = status_color_map["traffic_mode_active"]; + } else { + background_color = status_color_map["default"]; + } +} + +void ExperimentalButton::updateIcon() { + if (gif != nullptr) { + gif->stop(); + delete gif; + gif = nullptr; + gif_label->hide(); + } + + if (QFile::exists(wheel_gif_path)) { + gif = new QMovie(wheel_gif_path); + + if (!gif->isValid()) { + delete gif; + gif = nullptr; + return; + } + + gif_label->setMovie(gif); + gif_label->resize(img_size, img_size); + gif_label->move((btn_size - img_size) / 2, (btn_size - img_size) / 2); + gif_label->show(); + + gif->start(); + + use_gif = true; + image_empty = false; + } else if (QFile::exists(wheel_png_path)) { + img = loadPixmap(wheel_png_path, {img_size, img_size}); + + image_empty = false; + use_gif = false; + } else { + image_empty = true; + use_gif = false; + } + + update(); } void ExperimentalButton::paintEvent(QPaintEvent *event) { + if ((big_map && map_open) || image_empty || use_gif) { + return; + } + QPainter p(this); - QPixmap img = experimental_mode ? experimental_img : engage_img; - drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0); + if (use_stock_wheel) { + img = experimental_mode ? experimental_img : engage_img; + } + updateBackgroundColor(); + drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, background_color, (isDown() || !engageable) ? 0.6 : 1.0, steering_angle_deg); } // MapSettingsButton MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) { - setFixedSize(btn_size, btn_size); + setFixedSize(btn_size, btn_size + 20); settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size}); // hidden by default, made visible if map is created (has prime or mapbox token) @@ -62,3 +188,100 @@ void MapSettingsButton::paintEvent(QPaintEvent *event) { QPainter p(this); drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0); } + +// FrogPilot buttons + +// DistanceButton +DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent) { + setFixedSize(btn_size * 1.5, btn_size * 1.5); + + gif_label = new QLabel(this); + gif_label->setScaledContents(true); + + connect(this, &QPushButton::pressed, [this] {params_memory.putBool("OnroadDistanceButtonPressed", true);}); + connect(this, &QPushButton::released, [this] {params_memory.putBool("OnroadDistanceButtonPressed", false);}); +} + +DistanceButton::~DistanceButton() { + qDeleteAll(profile_data_gif); + + profile_data_gif.clear(); + profile_data_png.clear(); +} + +void DistanceButton::updateState(const UIScene &scene) { + bool state_changed = (traffic_mode_active != scene.traffic_mode_active) || + (personality != static_cast(scene.personality) + 1 && !traffic_mode_active); + + if (!state_changed) { + return; + } + + personality = static_cast(scene.personality) + 1; + traffic_mode_active = scene.traffic_mode_active; + + int profile_index = traffic_mode_active ? 0 : personality; + + if (QMovie *gif = profile_data_gif.value(profile_index)) { + gif_label->setMovie(gif); + gif_label->resize(btn_size, btn_size); + gif_label->move(UI_BORDER_SIZE, btn_size / 2.5); + gif_label->show(); + + gif->start(); + + use_gif = true; + } else { + gif_label->hide(); + + profile_image = profile_data_png.value(profile_index); + + use_gif = false; + } + + update(); +} + +void DistanceButton::updateIcon() { + qDeleteAll(profile_data_gif); + + profile_data_gif.clear(); + profile_data_png.clear(); + + static const QVector file_names = { + "../frogpilot/assets/active_theme/distance_icons/traffic", + "../frogpilot/assets/active_theme/distance_icons/aggressive", + "../frogpilot/assets/active_theme/distance_icons/standard", + "../frogpilot/assets/active_theme/distance_icons/relaxed" + }; + + for (int i = 0; i < file_names.size(); ++i) { + const QString &file_name = file_names[i]; + QString gif_file = file_name + ".gif"; + QString png_file = file_name + ".png"; + QString fallback_file = QString("../frogpilot/assets/stock_theme/distance_icons/%1.png").arg(QFileInfo(file_name).baseName().toLower()); + + if (QFile::exists(gif_file)) { + QMovie *movie = new QMovie(gif_file); + profile_data_gif.push_back(movie); + profile_data_png.push_back(QPixmap()); + } else { + QPixmap pixmap = loadPixmap(QFile::exists(png_file) ? png_file : fallback_file, QSize(btn_size * 1.25, btn_size * 1.25)); + profile_data_gif.push_back(nullptr); + profile_data_png.push_back(pixmap); + } + } + + personality = 0; +} + +void DistanceButton::paintEvent(QPaintEvent *event) { + if (use_gif) { + return; + } + + QPainter p(this); + p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing); + + drawIcon(p, QPoint((btn_size / 2) + UI_BORDER_SIZE, btn_size - (UI_BORDER_SIZE * 1.5)), profile_image, Qt::transparent, 1.0); +} diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h index b0757795f..225a04cbb 100644 --- a/selfdrive/ui/qt/onroad/buttons.h +++ b/selfdrive/ui/qt/onroad/buttons.h @@ -1,5 +1,7 @@ #pragma once +#include +#include #include #include "selfdrive/ui/ui.h" @@ -14,6 +16,10 @@ public: explicit ExperimentalButton(QWidget *parent = 0); void updateState(const UIState &s); + // FrogPilot widgets + ~ExperimentalButton(); + void updateIcon(); + private: void paintEvent(QPaintEvent *event) override; void changeMode(); @@ -23,6 +29,37 @@ private: QPixmap experimental_img; bool experimental_mode; bool engageable; + + // FrogPilot widgets + void updateBackgroundColor(); + + // FrogPilot variables + Params params_memory{"/dev/shm/params"}; + + QColor background_color; + + QLabel *gif_label; + + QMovie *gif; + + QPixmap img; + + QString wheel_gif_path; + QString wheel_png_path; + + bool always_on_lateral_active; + bool big_map; + bool conditional_experimental; + bool image_empty; + bool map_open; + bool navigate_on_openpilot; + bool rotating_wheel; + bool traffic_mode_active; + bool use_gif; + bool use_stock_wheel; + + int conditional_status; + int steering_angle_deg; }; @@ -38,4 +75,31 @@ private: QPixmap settings_img; }; -void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity); +void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity, const int angle = 0); + +// FrogPilot buttons +class DistanceButton : public QPushButton { + Q_OBJECT + +public: + explicit DistanceButton(QWidget *parent = 0); + ~DistanceButton(); + void updateIcon(); + void updateState(const UIScene &scene); + +private: + void paintEvent(QPaintEvent *event) override; + + Params params_memory{"/dev/shm/params"}; + + QLabel *gif_label; + QPixmap profile_image; + + QVector profile_data_png; + QVector profile_data_gif; + + bool traffic_mode_active; + bool use_gif; + + int personality; +}; diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc index 66eb1812e..5e0dd51c8 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.cc +++ b/selfdrive/ui/qt/onroad/onroad_home.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/onroad/onroad_home.h" +#include #include #include @@ -48,6 +49,13 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState); QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition); QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged); + + // FrogPilot variables + QObject::connect(&clickTimer, &QTimer::timeout, [this]() { + clickTimer.stop(); + QMouseEvent event(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier); + QApplication::sendEvent(this, &event); + }); } void OnroadWindow::updateState(const UIState &s) { @@ -55,29 +63,97 @@ void OnroadWindow::updateState(const UIState &s) { return; } - if (s.scene.map_on_left) { + if (s.scene.map_on_left || s.scene.full_map) { split->setDirection(QBoxLayout::LeftToRight); } else { split->setDirection(QBoxLayout::RightToLeft); } alerts->updateState(s); - nvg->updateState(s); + nvg->updateState(alerts->alert_height, s); + + bool shouldUpdate = false; QColor bgColor = bg_colors[s.status]; if (bg != bgColor) { // repaint border bg = bgColor; + shouldUpdate = true; + } + + // FrogPilot variables + const UIScene &scene = s.scene; + + acceleration = scene.acceleration; + accelerationJerk = scene.acceleration_jerk; + accelerationJerkDifference = scene.acceleration_jerk_difference; + blindSpotLeft = scene.blind_spot_left; + blindSpotRight = scene.blind_spot_right; + fps = scene.fps; + friction = scene.friction; + latAccel = scene.lat_accel; + liveValid = scene.live_valid; + showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight); + showFPS = scene.show_fps; + showJerk = scene.jerk_metrics; + showSignal = scene.signal_metrics && (turnSignalLeft || turnSignalRight); + showSteering = scene.steering_metrics; + showTuning = scene.lateral_tuning_metrics; + speedJerk = scene.speed_jerk; + speedJerkDifference = scene.speed_jerk_difference; + steer = scene.steer; + steeringAngleDeg = scene.steering_angle_deg; + turnSignalLeft = scene.turn_signal_left; + turnSignalRight = scene.turn_signal_right; + + if (showBlindspot || showFPS || showJerk || showSignal || showSteering || showTuning) { + shouldUpdate = true; + } + + if (shouldUpdate) { update(); } } void OnroadWindow::mousePressEvent(QMouseEvent* e) { + // FrogPilot variables + UIState *s = uiState(); + UIScene &scene = s->scene; + QPoint pos = e->pos(); + + if (scene.speed_limit_changed && nvg->newSpeedLimitRect.contains(pos)) { + params_memory.putBool("SpeedLimitAccepted", true); + return; + } + + if (scene.experimental_mode_via_tap && pos != timeoutPoint) { + if (clickTimer.isActive()) { + clickTimer.stop(); + + if (scene.conditional_experimental) { + int override_value = scene.conditional_status != 0 && scene.conditional_status <= 6 ? 0 : scene.conditional_status >= 7 ? 5 : 6; + params_memory.putInt("CEStatus", override_value); + } else { + params.putBoolNonBlocking("ExperimentalMode", !params.getBool("ExperimentalMode")); + } + + } else { + clickTimer.start(500); + } + return; + } + #ifdef ENABLE_MAPS if (map != nullptr) { + // Switch between map and sidebar when using navigate on openpilot bool sidebarVisible = geometry().x() > 0; - bool show_map = !sidebarVisible; + bool show_map = scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible; map->setVisible(show_map && !map->isVisible()); + if (scene.big_map) { + map->setFixedWidth(width()); + } else { + map->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE); + } } #endif // propagation event to parent(HomeWindow) @@ -125,5 +201,199 @@ void OnroadWindow::primeChanged(bool prime) { void OnroadWindow::paintEvent(QPaintEvent *event) { QPainter p(this); - p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255)); + + // FrogPilot variables + UIState *s = uiState(); + SubMaster &sm = *(s->sm); + + QRect rect = this->rect(); + QColor bgColor(bg.red(), bg.green(), bg.blue(), 255); + p.fillRect(rect, bgColor); + + if (showSteering) { + static float smoothedSteer = 0.0; + + smoothedSteer = 0.1 * std::abs(steer) + 0.9 * smoothedSteer; + if (std::abs(smoothedSteer - steer) < 0.01) { + smoothedSteer = steer; + } + + QLinearGradient gradient(rect.topLeft(), rect.bottomLeft()); + gradient.setColorAt(0.0, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]); + gradient.setColorAt(0.15, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]); + gradient.setColorAt(0.5, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]); + gradient.setColorAt(0.85, bg_colors[STATUS_ENGAGED]); + gradient.setColorAt(1.0, bg_colors[STATUS_ENGAGED]); + QBrush brush(gradient); + + if (steeringAngleDeg != 0) { + int visibleHeight = rect.height() * smoothedSteer; + QRect rectToFill, rectToHide; + + if (steeringAngleDeg < 0) { + rectToFill = QRect(rect.x(), rect.y() + rect.height() - visibleHeight, UI_BORDER_SIZE, visibleHeight); + rectToHide = QRect(rect.x(), rect.y(), UI_BORDER_SIZE, rect.height() - visibleHeight); + } else { + rectToFill = QRect(rect.x() + rect.width() - UI_BORDER_SIZE, rect.y() + rect.height() - visibleHeight, UI_BORDER_SIZE, visibleHeight); + rectToHide = QRect(rect.x() + rect.width() - UI_BORDER_SIZE, rect.y(), UI_BORDER_SIZE, rect.height() - visibleHeight); + } + p.fillRect(rectToFill, brush); + p.fillRect(rectToHide, bgColor); + } + } + + if (showBlindspot || showSignal) { + static bool leftFlickerActive = false; + static bool rightFlickerActive = false; + + std::function getBorderColor = [&](bool blindSpot, bool turnSignal, bool &flickerActive) -> QColor { + if (showSignal && turnSignal) { + if (blindSpot) { + if (sm.frame % (UI_FREQ / 5) == 0) { + flickerActive = !flickerActive; + } + return flickerActive ? bg_colors[STATUS_TRAFFIC_MODE_ACTIVE] : bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]; + } else if (sm.frame % (UI_FREQ / 2) == 0) { + flickerActive = !flickerActive; + } + return flickerActive ? bg_colors[STATUS_CONDITIONAL_OVERRIDDEN] : bg; + } else if (showBlindspot && blindSpot) { + return bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; + } else { + return bg; + } + }; + + QColor borderColorLeft = getBorderColor(blindSpotLeft, turnSignalLeft, leftFlickerActive); + QColor borderColorRight = getBorderColor(blindSpotRight, turnSignalRight, rightFlickerActive); + + p.fillRect(rect.x(), rect.y(), rect.width() / 2, rect.height(), borderColorLeft); + p.fillRect(rect.x() + rect.width() / 2, rect.y(), rect.width() / 2, rect.height(), borderColorRight); + } + + QString logicsDisplayString; + if (showJerk) { + if (bg == bg_colors[STATUS_ENGAGED] || bg == bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]) { + maxAcceleration = std::max(maxAcceleration, acceleration); + } + maxAccelTimer = maxAcceleration == acceleration && maxAcceleration != 0 ? UI_FREQ * 5 : maxAccelTimer - 1; + + logicsDisplayString += QString("Acceleration: %1 %2 - ").arg(acceleration, 0, 'f', 2).arg(nvg->accelerationUnit); + logicsDisplayString += QString("Max: %1 %2 | ").arg(maxAcceleration, 0, 'f', 2).arg(nvg->accelerationUnit); + logicsDisplayString += QString("Acceleration Jerk: %1 | ").arg(accelerationJerk, 0, 'f', 2); + logicsDisplayString += QString("Speed Jerk: %1").arg(speedJerk, 0, 'f', 2); + } + if (showTuning) { + if (!logicsDisplayString.isEmpty()) { + logicsDisplayString += " | "; + } + logicsDisplayString += QString("Friction: %1 | ").arg(liveValid ? QString::number(friction, 'f', 2) : "Calculating..."); + logicsDisplayString += QString("Lateral Acceleration: %1").arg(liveValid ? QString::number(latAccel, 'f', 2) : "Calculating..."); + } + if (!logicsDisplayString.isEmpty()) { + p.save(); + + p.setFont(InterFont(28, QFont::DemiBold)); + p.setRenderHint(QPainter::TextAntialiasing); + + QFontMetrics fontMetrics(p.font()); + + int x = (rect.width() - fontMetrics.horizontalAdvance(logicsDisplayString)) / 2 - UI_BORDER_SIZE; + int y = rect.top() + (fontMetrics.height() / 1.5); + + QStringList parts = logicsDisplayString.split("|"); + for (QString part : parts) { + if (part.contains("Max:") && maxAccelTimer > 0) { + QString baseText = QString("Acceleration: %1 %2 - ").arg(acceleration, 0, 'f', 2).arg(nvg->accelerationUnit); + p.setPen(whiteColor()); + p.drawText(x, y, baseText); + x += fontMetrics.horizontalAdvance(baseText); + + QString maxText = QString("Max: %1 %2 | ").arg(maxAcceleration, 0, 'f', 2).arg(nvg->accelerationUnit); + p.setPen(redColor()); + p.drawText(x, y, maxText); + x += fontMetrics.horizontalAdvance(maxText); + } else if (part.contains("Acceleration Jerk") && accelerationJerkDifference != 0) { + QString baseText = QString("Acceleration Jerk: %1").arg(accelerationJerk, 0, 'f', 2); + p.setPen(whiteColor()); + p.drawText(x, y, baseText); + x += fontMetrics.horizontalAdvance(baseText); + + QString diffText = QString(" (%1) | ").arg(accelerationJerkDifference, 0, 'f', 2); + p.setPen(redColor()); + p.drawText(x, y, diffText); + x += fontMetrics.horizontalAdvance(diffText); + } else if (part.contains("Speed Jerk") && speedJerkDifference != 0) { + QString baseText = QString("Speed Jerk: %1").arg(speedJerk, 0, 'f', 2); + p.setPen(whiteColor()); + p.drawText(x, y, baseText); + x += fontMetrics.horizontalAdvance(baseText); + + QString diffText = QString(" (%1)").arg(speedJerkDifference, 0, 'f', 2); + if (showTuning) { + diffText += " | "; + } + p.setPen(redColor()); + p.drawText(x, y, diffText); + x += fontMetrics.horizontalAdvance(diffText); + } else if (part.contains("Speed Jerk") && !showTuning) { + p.setPen(whiteColor()); + p.drawText(x, y, part); + x += fontMetrics.horizontalAdvance(part); + } else if (part.contains("Lateral Acceleration")) { + p.setPen(whiteColor()); + p.drawText(x, y, part); + x += fontMetrics.horizontalAdvance(part); + } else { + part += " | "; + p.setPen(whiteColor()); + p.drawText(x, y, part); + x += fontMetrics.horizontalAdvance(part); + } + } + + p.restore(); + } + + if (showFPS) { + qint64 currentMillis = QDateTime::currentMSecsSinceEpoch(); + static std::queue> fpsQueue; + + static float avgFPS = 0.0; + static float maxFPS = 0.0; + static float minFPS = 99.9; + + minFPS = std::min(minFPS, fps); + maxFPS = std::max(maxFPS, fps); + + fpsQueue.push({currentMillis, fps}); + + while (!fpsQueue.empty() && currentMillis - fpsQueue.front().first > 60000) { + fpsQueue.pop(); + } + + if (!fpsQueue.empty()) { + float totalFPS = 0.0; + for (auto tempQueue = fpsQueue; !tempQueue.empty(); tempQueue.pop()) { + totalFPS += tempQueue.front().second; + } + avgFPS = totalFPS / fpsQueue.size(); + } + + QString fpsDisplayString = QString("FPS: %1 | Min: %3 | Max: %4 | Avg: %5") + .arg(qRound(fps)) + .arg(qRound(minFPS)) + .arg(qRound(maxFPS)) + .arg(qRound(avgFPS)); + + p.setFont(InterFont(28, QFont::DemiBold)); + p.setRenderHint(QPainter::TextAntialiasing); + p.setPen(whiteColor()); + + int textWidth = p.fontMetrics().horizontalAdvance(fpsDisplayString); + int xPos = (rect.width() - textWidth) / 2; + int yPos = rect.bottom() - 5; + + p.drawText(xPos, yPos, fpsDisplayString); + } } diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h index 4976f56a6..35efdd00c 100644 --- a/selfdrive/ui/qt/onroad/onroad_home.h +++ b/selfdrive/ui/qt/onroad/onroad_home.h @@ -24,6 +24,43 @@ private: QWidget *map = nullptr; QHBoxLayout* split; + // FrogPilot variables + bool blindSpotLeft; + bool blindSpotRight; + bool liveValid; + bool showBlindspot; + bool showFPS; + bool showJerk; + bool showSignal; + bool showSteering; + bool showTuning; + bool turnSignalLeft; + bool turnSignalRight; + + float acceleration; + float accelerationJerk; + float accelerationJerkDifference; + float fps; + float friction; + float latAccel; + float maxAcceleration; + float speedJerk; + float speedJerkDifference; + float steer; + + int maxAccelTimer; + int steeringAngleDeg; + + QPoint timeoutPoint = QPoint(420, 69); + + QTimer clickTimer; + + inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } + inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } + + Params params; + Params params_memory{"/dev/shm/params"}; + private slots: void offroadTransition(bool offroad); void primeChanged(bool prime); diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 75b966c9a..8343b4aaa 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -25,10 +25,6 @@ void Sidebar::drawMetric(QPainter &p, const QPair &label, QCol } Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) { - home_img = loadPixmap("../assets/images/button_home.png", home_btn.size()); - flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size()); - settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); - connect(this, &Sidebar::valueChanged, [=] { update(); }); setAttribute(Qt::WA_OpaquePaintEvent); @@ -38,15 +34,151 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed( QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState); pm = std::make_unique>({"userFlag"}); + + // FrogPilot variables + home_label = new QLabel(this); + settings_label = new QLabel(this); + + flagPngPath = "../frogpilot/assets/active_theme/icons/button_flag.png"; + homeGifPath = "../frogpilot/assets/active_theme/icons/button_home.gif"; + homePngPath = "../frogpilot/assets/active_theme/icons/button_home.png"; + settingsGifPath = "../frogpilot/assets/active_theme/icons/button_settings.gif"; + settingsPngPath = "../frogpilot/assets/active_theme/icons/button_settings.png"; + + randomEventGifPath = "../frogpilot/assets/random_events/icons/button_home.gif"; + + QObject::connect(uiState(), &UIState::themeUpdated, this, &Sidebar::updateIcons); +} + +void Sidebar::showEvent(QShowEvent *event) { + updateIcons(); +} + +void Sidebar::updateIcons() { + updateIcon(home_label, home_gif, homeGifPath, home_btn, homePngPath, isHomeGif); + updateIcon(settings_label, settings_gif, settingsGifPath, settings_btn, settingsPngPath, isSettingsGif); +} + +void Sidebar::updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, const QRect &btnRect, const QString &pngPath, bool &isGif) { + QString selectedGifPath = gifPath; + if (util::random_int(1, 100) == 100 && btnRect == home_btn && isRandomEvents) { + selectedGifPath = randomEventGifPath; + } + + if (gif != nullptr) { + gif->stop(); + delete gif; + gif = nullptr; + if (label) { + label->hide(); + } + } + + if (QFile::exists(selectedGifPath)) { + gif = new QMovie(selectedGifPath); + + if (gif->isValid()) { + gif->setScaledSize(btnRect.size()); + + if (label) { + label->setGeometry(btnRect); + label->setMovie(gif); + label->show(); + } + + gif->start(); + isGif = true; + } else { + delete gif; + gif = nullptr; + isGif = false; + } + } else { + if (btnRect == home_btn) { + home_img = loadPixmap(homePngPath, btnRect.size()); + flag_img = loadPixmap(flagPngPath, btnRect.size()); + } else { + settings_img = loadPixmap(settingsPngPath, btnRect.size(), Qt::IgnoreAspectRatio); + } + + isGif = false; + } } void Sidebar::mousePressEvent(QMouseEvent *event) { - if (onroad && home_btn.contains(event->pos())) { + UIState *s = uiState(); + UIScene &scene = s->scene; + + QPoint pos = event->pos(); + + QRect cpuRect = {30, 496, 240, 126}; + QRect memoryRect = {30, 654, 240, 126}; + QRect tempRect = {30, 338, 240, 126}; + + static int showChip = 0; + static int showMemory = 0; + static int showTemp = 0; + + if (cpuRect.contains(pos) && isSidebarMetrics) { + showChip = (showChip + 1) % 3; + + isCPU = (showChip == 1); + isGPU = (showChip == 2); + + scene.cpu_metrics = isCPU; + scene.gpu_metrics = isGPU; + + params.putBoolNonBlocking("ShowCPU", isCPU); + params.putBoolNonBlocking("ShowGPU", isGPU); + + update(); + return; + } + + if (memoryRect.contains(pos) && isSidebarMetrics) { + showMemory = (showMemory + 1) % 4; + + isMemoryUsage = (showMemory == 1); + isStorageLeft = (showMemory == 2); + isStorageUsed = (showMemory == 3); + + scene.memory_metrics = isMemoryUsage; + scene.storage_left_metrics = isStorageLeft; + scene.storage_used_metrics = isStorageUsed; + + params.putBoolNonBlocking("ShowMemoryUsage", isMemoryUsage); + params.putBoolNonBlocking("ShowStorageLeft", isStorageLeft); + params.putBoolNonBlocking("ShowStorageUsed", isStorageUsed); + + update(); + return; + } + + if (tempRect.contains(pos) && isSidebarMetrics) { + showTemp = (showTemp + 1) % 3; + + isFahrenheit = showTemp == 2; + + scene.fahrenheit = isFahrenheit; + scene.numerical_temp = showTemp != 0; + + params.putBoolNonBlocking("Fahrenheit", showTemp == 2); + params.putBoolNonBlocking("NumericalTemp", showTemp != 0); + + update(); + return; + } + + if (onroad && home_btn.contains(pos)) { flag_pressed = true; update(); - } else if (settings_btn.contains(event->pos())) { + return; + } + + if (settings_btn.contains(pos)) { settings_pressed = true; update(); + return; } } @@ -70,7 +202,22 @@ void Sidebar::offroadTransition(bool offroad) { } void Sidebar::updateState(const UIState &s) { - if (!isVisible()) return; + if (!isVisible()) { + if (home_gif != nullptr) { + home_gif->stop(); + delete home_gif; + home_gif = nullptr; + home_label->hide(); + } + + if (settings_gif != nullptr) { + settings_gif->stop(); + delete settings_gif; + settings_gif = nullptr; + settings_label->hide(); + } + return; + } auto &sm = *(s.sm); @@ -85,27 +232,95 @@ void Sidebar::updateState(const UIState &s) { connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; } else { connectStatus = nanos_since_boot() - last_ping < 80e9 - ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} + ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, sidebar_color3} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); - ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color}; + ItemStatus tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("HIGH")}, danger_color}; auto ts = deviceState.getThermalStatus(); if (ts == cereal::DeviceState::ThermalStatus::GREEN) { - tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color}; + tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("GOOD")}, sidebar_color1}; } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) { - tempStatus = {{tr("TEMP"), tr("OK")}, warning_color}; + tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("OK")}, warning_color}; } setProperty("tempStatus", QVariant::fromValue(tempStatus)); - ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color}; + ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, sidebar_color2}; if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) { pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color}; } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) { pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color}; } setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); + + // FrogPilot variables + const UIScene &scene = s.scene; + + isCPU = scene.cpu_metrics; + isFahrenheit = scene.fahrenheit; + isGPU = scene.gpu_metrics; + isIP = scene.ip_metrics; + isMemoryUsage = scene.memory_metrics; + isNumericalTemp = scene.numerical_temp; + isRandomEvents = scene.random_events; + isSidebarMetrics = scene.sidebar_metrics; + isStorageLeft = scene.storage_left_metrics; + isStorageUsed = scene.storage_used_metrics; + + bool useStockColors = scene.use_stock_colors; + sidebar_color1 = useStockColors ? good_color : scene.sidebar_color1; + sidebar_color2 = useStockColors ? good_color : scene.sidebar_color2; + sidebar_color3 = useStockColors ? good_color : scene.sidebar_color3; + + const cereal::FrogPilotDeviceState::Reader &frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState(); + + int maxTempC = deviceState.getMaxTempC(); + max_temp = isFahrenheit ? QString::number(maxTempC * 9 / 5 + 32) + "°F" : QString::number(maxTempC) + "°C"; + + if (isCPU || isGPU) { + auto cpu_loads = deviceState.getCpuUsagePercent(); + int cpu_usage = cpu_loads.size() != 0 ? std::accumulate(cpu_loads.begin(), cpu_loads.end(), 0) / cpu_loads.size() : 0; + int gpu_usage = deviceState.getGpuUsagePercent(); + int usage = isGPU ? gpu_usage : cpu_usage; + + QString chip_usage = QString::number(usage) + "%"; + + ItemStatus cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, sidebar_color2}; + if (usage >= 85) { + cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, danger_color}; + } else if (usage >= 70) { + cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, warning_color}; + } + setProperty("cpuStatus", QVariant::fromValue(cpuStatus)); + } + + if (isMemoryUsage || isStorageLeft || isStorageUsed) { + int memory_usage = deviceState.getMemoryUsagePercent(); + int storage_left = frogpilotDeviceState.getFreeSpace(); + int storage_used = frogpilotDeviceState.getUsedSpace(); + + QString memory = QString::number(memory_usage) + "%"; + QString storage = QString::number(isStorageLeft ? storage_left : storage_used) + tr(" GB"); + + if (isMemoryUsage) { + ItemStatus memoryStatus = {{tr("MEMORY"), memory}, sidebar_color3}; + if (memory_usage >= 85) { + memoryStatus = {{tr("MEMORY"), memory}, danger_color}; + } else if (memory_usage >= 70) { + memoryStatus = {{tr("MEMORY"), memory}, warning_color}; + } + setProperty("memoryStatus", QVariant::fromValue(memoryStatus)); + } else { + ItemStatus storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, sidebar_color3}; + if (25 > storage_left && storage_left >= 10) { + storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, warning_color}; + } else if (10 > storage_left) { + storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, danger_color}; + } + setProperty("storageStatus", QVariant::fromValue(storageStatus)); + } + } } void Sidebar::paintEvent(QPaintEvent *event) { @@ -116,28 +331,54 @@ void Sidebar::paintEvent(QPaintEvent *event) { p.fillRect(rect(), QColor(57, 57, 57)); // buttons - p.setOpacity(settings_pressed ? 0.65 : 1.0); - p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); - p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0); - p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img); + if (!isSettingsGif) { + p.setOpacity(settings_pressed ? 0.65 : 1.0); + p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); + } + if (!isHomeGif) { + p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0); + p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img); + } p.setOpacity(1.0); // network int x = 58; const QColor gray(0x54, 0x54, 0x54); - for (int i = 0; i < 5; ++i) { - p.setBrush(i < net_strength ? Qt::white : gray); - p.drawEllipse(x, 196, 27, 27); - x += 37; + p.setFont(InterFont(35)); + + if (isIP) { + p.setPen(QColor(0xff, 0xff, 0xff)); + p.save(); + p.setFont(InterFont(30)); + QRect ipBox = QRect(50, 196, 225, 27); + p.drawText(ipBox, Qt::AlignLeft | Qt::AlignVCenter, uiState()->wifi->getIp4Address()); + p.restore(); + } else { + for (int i = 0; i < 5; ++i) { + p.setBrush(i < net_strength ? Qt::white : gray); + p.drawEllipse(x, 196, 27, 27); + x += 37; + } + p.setPen(QColor(0xff, 0xff, 0xff)); } - p.setFont(InterFont(35)); - p.setPen(QColor(0xff, 0xff, 0xff)); const QRect r = QRect(50, 247, 100, 50); p.drawText(r, Qt::AlignCenter, net_type); // metrics drawMetric(p, temp_status.first, temp_status.second, 338); - drawMetric(p, panda_status.first, panda_status.second, 496); - drawMetric(p, connect_status.first, connect_status.second, 654); + + if (isCPU || isGPU) { + drawMetric(p, cpu_status.first, cpu_status.second, 496); + } else { + drawMetric(p, panda_status.first, panda_status.second, 496); + } + + if (isMemoryUsage) { + drawMetric(p, memory_status.first, memory_status.second, 654); + } else if (isStorageLeft || isStorageUsed) { + drawMetric(p, storage_status.first, storage_status.second, 654); + } else { + drawMetric(p, connect_status.first, connect_status.second, 654); + } } diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index f627aac81..6fa7bac1d 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -3,7 +3,9 @@ #include #include +#include #include +#include #include "selfdrive/ui/ui.h" @@ -18,6 +20,11 @@ class Sidebar : public QFrame { Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged); Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged); + // FrogPilot properties + Q_PROPERTY(ItemStatus cpuStatus MEMBER cpu_status NOTIFY valueChanged) + Q_PROPERTY(ItemStatus memoryStatus MEMBER memory_status NOTIFY valueChanged) + Q_PROPERTY(ItemStatus storageStatus MEMBER storage_status NOTIFY valueChanged) + public: explicit Sidebar(QWidget* parent = 0); @@ -59,4 +66,45 @@ protected: private: std::unique_ptr pm; + + // FrogPilot widgets + void showEvent(QShowEvent *event); + void updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, const QRect &btnRect, const QString &pngPath, bool &isGif); + void updateIcons(); + + // FrogPilot variables + Params params; + + ItemStatus cpu_status, memory_status, storage_status; + + bool isCPU; + bool isFahrenheit; + bool isGPU; + bool isHomeGif; + bool isIP; + bool isMemoryUsage; + bool isNumericalTemp; + bool isRandomEvents; + bool isSettingsGif; + bool isSidebarMetrics; + bool isStorageLeft; + bool isStorageUsed; + + QColor sidebar_color1; + QColor sidebar_color2; + QColor sidebar_color3; + + QLabel *home_label; + QLabel *settings_label; + + QMovie *home_gif; + QMovie *settings_gif; + + QString flagPngPath; + QString homeGifPath; + QString homePngPath; + QString max_temp; + QString randomEventGifPath; + QString settingsGifPath; + QString settingsPngPath; }; diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc index 2404efa66..7ca2f1a70 100644 --- a/selfdrive/ui/qt/spinner.cc +++ b/selfdrive/ui/qt/spinner.cc @@ -88,7 +88,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) { } QProgressBar::chunk { border-radius: 10px; - background-color: white; + background-color: rgba(23, 134, 68, 255); } )"); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 0bf5f2865..4ae77c74e 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -26,7 +26,7 @@ QString getVersion() { } QString getBrand() { - return QObject::tr("openpilot"); + return QObject::tr("FrogPilot"); } QString getUserAgent() { @@ -247,9 +247,10 @@ QPixmap bootstrapPixmap(const QString &id) { bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) { // Using the experimental longitudinal toggle, returns whether longitudinal control // will be active without needing a restart of openpilot - return car_params.getExperimentalLongitudinalAvailable() - ? Params().getBool("ExperimentalLongitudinalEnabled") - : car_params.getOpenpilotLongitudinalControl(); + Params params = Params(); + return (car_params.getExperimentalLongitudinalAvailable() + ? params.getBool("ExperimentalLongitudinalEnabled") + : car_params.getOpenpilotLongitudinalControl()) && !params.getBool("DisableOpenpilotLongitudinal"); } // ParamWatcher diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index aa304e0df..cd6b1e827 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -132,6 +132,10 @@ public: toggle.update(); } + void refresh() { + toggle.togglePosition(); + } + signals: void toggleFlipped(bool state); @@ -221,10 +225,12 @@ public: button->setMinimumWidth(minimum_button_width); hlayout->addWidget(button); button_group->addButton(button, i); + button->installEventFilter(this); } QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { params.put(key, std::to_string(id)); + emit buttonClicked(id); }); } @@ -234,6 +240,12 @@ public: } } + void setEnabledButtons(int id, bool enable) { + if (QAbstractButton *button = button_group->button(id)) { + button->setEnabled(enable); + } + } + void setCheckedButton(int id) { button_group->button(id)->setChecked(true); } @@ -247,6 +259,21 @@ public: refresh(); } +signals: + void buttonClicked(int id); + void disabledButtonClicked(int id); + +protected: + bool eventFilter(QObject *obj, QEvent *event) override { + if (event->type() == QEvent::MouseButtonPress) { + QPushButton *button = qobject_cast(obj); + if (button && !button->isEnabled()) { + emit disabledButtonClicked(button_group->id(button)); + } + } + return AbstractControl::eventFilter(obj, event); + } + private: std::string key; Params params; diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 4ff0de29f..0300ff0a4 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -141,19 +141,25 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s QObject::connect(k, &Keyboard::emitEnter, this, &InputDialog::handleEnter); QObject::connect(k, &Keyboard::emitBackspace, this, [=]() { line->backspace(); + updateMaxLengthSublabel(line->text()); }); QObject::connect(k, &Keyboard::emitKey, this, [=](const QString &key) { - line->insert(key.left(1)); + if (line->text().length() < maxLength || maxLength == DEFAULT_MAX_LENGTH) { + line->insert(key.left(1)); + updateMaxLengthSublabel(line->text()); + } }); main_layout->addWidget(k, 2, Qt::AlignBottom); } QString InputDialog::getText(const QString &prompt, QWidget *parent, const QString &subtitle, - bool secret, int minLength, const QString &defaultText) { + bool secret, int minLength, const QString &defaultText, int maxLength) { InputDialog d = InputDialog(prompt, parent, subtitle, secret); d.line->setText(defaultText); d.setMinLength(minLength); + d.setMaxLength(maxLength); + d.updateMaxLengthSublabel(defaultText); const int ret = d.exec(); return ret ? d.text() : QString(); } @@ -186,10 +192,21 @@ void InputDialog::setMinLength(int length) { minLength = length; } +// FrogPilot functions +void InputDialog::setMaxLength(int length) { + maxLength = length; +} + +void InputDialog::updateMaxLengthSublabel(const QString &text) { + if (maxLength != DEFAULT_MAX_LENGTH) { + sublabel->setText(tr("Characters: %1/%2").arg(text.length()).arg(maxLength)); + } +} + // ConfirmationDialog ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, - const bool rich, QWidget *parent) : DialogBase(parent) { + const bool rich, QWidget *parent, const bool is_long) : DialogBase(parent) { QFrame *container = new QFrame(this); container->setStyleSheet(R"( QFrame { background-color: #1B1B1B; color: #C9C9C9; } @@ -197,7 +214,7 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString #confirm_btn:pressed { background-color: #3049F4; } )"); QVBoxLayout *main_layout = new QVBoxLayout(container); - main_layout->setContentsMargins(32, rich ? 32 : 120, 32, 32); + main_layout->setContentsMargins(32, rich || is_long ? 32 : 120, 32, 32); QLabel *prompt = new QLabel(prompt_text, this); prompt->setWordWrap(true); diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index 089e54e4a..fb02351d0 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -9,6 +9,7 @@ #include "selfdrive/ui/qt/widgets/keyboard.h" +const int DEFAULT_MAX_LENGTH = 512; class DialogBase : public QDialog { Q_OBJECT @@ -27,12 +28,15 @@ class InputDialog : public DialogBase { public: explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false); static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "", - bool secret = false, int minLength = -1, const QString &defaultText = ""); + bool secret = false, int minLength = -1, const QString &defaultText = "", int maxLength = DEFAULT_MAX_LENGTH); QString text(); void setMessage(const QString &message, bool clearInputField = true); void setMinLength(int length); void show(); + // FrogPilot widgets + void setMaxLength(int length); + private: int minLength; QLineEdit *line; @@ -42,6 +46,12 @@ private: QVBoxLayout *main_layout; QPushButton *eye_btn; + // FrogPilot widgets + void updateMaxLengthSublabel(const QString &text); + + // FrogPilot variables + int maxLength; + private slots: void handleEnter(); @@ -55,7 +65,7 @@ class ConfirmationDialog : public DialogBase { public: explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, - const QString &cancel_text, const bool rich, QWidget* parent); + const QString &cancel_text, const bool rich, QWidget* parent, const bool is_long=false); static bool alert(const QString &prompt_text, QWidget *parent); static bool confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent); static bool rich(const QString &prompt_text, QWidget *parent); diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 74ece36d1..a952a2a9b 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -32,6 +32,17 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft); QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); + disable_check_btn = new QPushButton(tr("Disable Internet Check")); + disable_check_btn->setVisible(false); + disable_check_btn->setFixedSize(625, 125); + footer_layout->addWidget(disable_check_btn, 1, Qt::AlignBottom | Qt::AlignCenter); + QObject::connect(disable_check_btn, &QPushButton::clicked, [=]() { + params.putBool("DeviceManagement", true); + params.putBool("OfflineMode", true); + }); + QObject::connect(disable_check_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); + disable_check_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)"); + snooze_btn = new QPushButton(tr("Snooze Update")); snooze_btn->setVisible(false); snooze_btn->setFixedSize(550, 125); @@ -107,6 +118,7 @@ int OffroadAlert::refresh() { label->setVisible(!text.isEmpty()); alertCount += !text.isEmpty(); } + disable_check_btn->setVisible(!alerts["Offroad_ConnectivityNeeded"]->text().isEmpty()); snooze_btn->setVisible(!alerts["Offroad_ConnectivityNeeded"]->text().isEmpty()); return alertCount; } diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h index ace2e7545..abeafd225 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.h +++ b/selfdrive/ui/qt/widgets/offroad_alerts.h @@ -15,6 +15,7 @@ class AbstractAlert : public QFrame { protected: AbstractAlert(bool hasRebootBtn, QWidget *parent = nullptr); + QPushButton *disable_check_btn; QPushButton *snooze_btn; QVBoxLayout *scrollable_layout; Params params; diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 26743952d..6e444d53b 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -18,7 +18,9 @@ SshControl::SshControl() : } } else { params.remove("GithubUsername"); + params_storage.remove("GithubUsername"); params.remove("GithubSshKeys"); + params_storage.remove("GithubSshKeys"); refresh(); } }); diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 920bd651e..9bba8d38f 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -29,4 +29,7 @@ private: void refresh(); void getUserKeys(const QString &username); + + // FrogPilot variables + Params params_storage{"/persist/params"}; }; diff --git a/selfdrive/ui/qt/widgets/toggle.cc b/selfdrive/ui/qt/widgets/toggle.cc index 82302ad5b..1236d25dd 100644 --- a/selfdrive/ui/qt/widgets/toggle.cc +++ b/selfdrive/ui/qt/widgets/toggle.cc @@ -75,7 +75,7 @@ void Toggle::setEnabled(bool value) { enabled = value; if (value) { circleColor.setRgb(0xfafafa); - green.setRgb(0x33ab4c); + green.setRgb(0x178644); } else { circleColor.setRgb(0x888888); green.setRgb(0x227722); diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc index 9c5289a22..0b41e7580 100644 --- a/selfdrive/ui/qt/widgets/wifi.cc +++ b/selfdrive/ui/qt/widgets/wifi.cc @@ -81,6 +81,35 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { } stack->addWidget(uploading); + // not uploading data + QWidget *notUploading = new QWidget; + QVBoxLayout *not_uploading_layout = new QVBoxLayout(notUploading); + not_uploading_layout->setContentsMargins(64, 56, 64, 56); + not_uploading_layout->setSpacing(36); + { + QHBoxLayout *title_layout = new QHBoxLayout; + { + QLabel *title = new QLabel(tr("Uploading disabled")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title->setWordWrap(true); + title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); + title_layout->addWidget(title); + title_layout->addStretch(); + + QLabel *icon = new QLabel; + QPixmap pixmap("../frogpilot/assets/other_images/icon_wifi_uploading_disabled.svg"); + icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + } + not_uploading_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads.")); + desc->setStyleSheet("font-size: 48px; font-weight: 400;"); + desc->setWordWrap(true); + not_uploading_layout->addWidget(desc); + } + stack->addWidget(notUploading); + setStyleSheet(R"( WiFiPromptWidget { background-color: #333333; @@ -99,5 +128,5 @@ void WiFiPromptWidget::updateState(const UIState &s) { auto network_type = sm["deviceState"].getDeviceState().getNetworkType(); auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI || network_type == cereal::DeviceState::NetworkType::ETHERNET; - stack->setCurrentIndex(uploading ? 1 : 0); + stack->setCurrentIndex(s.scene.no_uploads ? 2 : uploading ? 1 : 0); } diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h index 60c865f2b..30278c1b0 100644 --- a/selfdrive/ui/qt/widgets/wifi.h +++ b/selfdrive/ui/qt/widgets/wifi.h @@ -18,6 +18,10 @@ signals: public slots: void updateState(const UIState &s); +private: + // FrogPilot variables + Params params; + protected: QStackedLayout *stack; }; diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 6b579fcc5..52c410718 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -74,7 +74,12 @@ void MainWindow::closeSettings() { main_layout->setCurrentWidget(homeWindow); if (uiState()->scene.started) { - homeWindow->showSidebar(false); + // Map is always shown when using navigate on openpilot + if (uiState()->scene.navigate_on_openpilot) { + homeWindow->showMapPanel(true); + } else { + homeWindow->showSidebar(params.getBool("Sidebar")); + } } } @@ -87,8 +92,8 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) { case QEvent::MouseButtonPress: case QEvent::MouseMove: { // ignore events when device is awakened by resetInteractiveTimeout - ignore = !device()->isAwake(); - device()->resetInteractiveTimeout(); + ignore = !device()->isAwake() || uiState()->scene.driver_camera_timer >= 10; + device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad); break; } default: diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h index 05b61e1f7..f1389c29f 100644 --- a/selfdrive/ui/qt/window.h +++ b/selfdrive/ui/qt/window.h @@ -22,4 +22,7 @@ private: HomeWindow *homeWindow; SettingsWindow *settingsWindow; OnboardingWindow *onboardingWindow; + + // FrogPilot variables + Params params; }; diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index 0550a7db9..13e3975ff 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -3,6 +3,7 @@ import numpy as np import time import wave +from pathlib import Path from cereal import car, messaging from openpilot.common.basedir import BASEDIR @@ -13,6 +14,8 @@ from openpilot.common.swaglog import cloudlog from openpilot.system import micd +from openpilot.selfdrive.frogpilot.frogpilot_variables import ACTIVE_THEME_PATH, RANDOM_EVENTS_PATH, get_frogpilot_toggles, params_memory + SAMPLE_RATE = 48000 SAMPLE_BUFFER = 4096 # (approx 100ms) MAX_VOLUME = 1.0 @@ -38,6 +41,23 @@ sound_list: dict[int, tuple[str, int | None, float]] = { AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME), AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME), + + # FrogPilot sounds + AudibleAlert.angry: ("angry.wav", 1, MAX_VOLUME), + AudibleAlert.continued: ("continued.wav", 1, MAX_VOLUME), + AudibleAlert.dejaVu: ("dejaVu.wav", 1, MAX_VOLUME), + AudibleAlert.doc: ("doc.wav", 1, MAX_VOLUME), + AudibleAlert.fart: ("fart.wav", 1, MAX_VOLUME), + AudibleAlert.firefox: ("firefox.wav", 1, MAX_VOLUME), + AudibleAlert.goat: ("goat.wav", None, MAX_VOLUME), + AudibleAlert.hal9000: ("hal9000.wav", 1, MAX_VOLUME), + AudibleAlert.mail: ("mail.wav", 1, MAX_VOLUME), + AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME), + AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME), + AudibleAlert.promptRepeat: ("prompt_repeat.wav", None, MAX_VOLUME), + AudibleAlert.startup: ("startup.wav", 1, MAX_VOLUME), + AudibleAlert.thisIsFine: ("this_is_fine.wav", 1, MAX_VOLUME), + AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME), } def check_controls_timeout_alert(sm): @@ -52,8 +72,6 @@ def check_controls_timeout_alert(sm): class Soundd: def __init__(self): - self.load_sounds() - self.current_alert = AudibleAlert.none self.current_volume = MIN_VOLUME self.current_sound_frame = 0 @@ -62,6 +80,33 @@ class Soundd: self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) + # FrogPilot variables + self.frogpilot_toggles = get_frogpilot_toggles() + + self.auto_volume = 0 + + self.previous_sound_pack = None + + self.random_events_directory = Path(RANDOM_EVENTS_PATH) / "sounds" + + self.random_events_map = { + AudibleAlert.angry: MAX_VOLUME, + AudibleAlert.continued: MAX_VOLUME, + AudibleAlert.dejaVu: MAX_VOLUME, + AudibleAlert.doc: MAX_VOLUME, + AudibleAlert.fart: MAX_VOLUME, + AudibleAlert.firefox: MAX_VOLUME, + AudibleAlert.goat: MAX_VOLUME, + AudibleAlert.hal9000: MAX_VOLUME, + AudibleAlert.mail: MAX_VOLUME, + AudibleAlert.nessie: MAX_VOLUME, + AudibleAlert.noice: MAX_VOLUME, + AudibleAlert.thisIsFine: MAX_VOLUME, + AudibleAlert.uwu: MAX_VOLUME, + } + + self.update_frogpilot_sounds() + def load_sounds(self): self.loaded_sounds: dict[int, np.ndarray] = {} @@ -69,7 +114,17 @@ class Soundd: for sound in sound_list: filename, play_count, volume = sound_list[sound] - wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') + if sound in self.random_events_map: + wavefile = wave.open(str(self.random_events_directory / filename), 'r') + else: + try: + wavefile = wave.open(str(self.sound_directory / filename), 'r') + except FileNotFoundError: + if filename == "prompt_repeat.wav": + filename = "prompt.wav" + if filename == "startup.wav": + filename = "engage.wav" + wavefile = wave.open(BASEDIR + "/selfdrive/assets/sounds/" + filename, 'r') assert wavefile.getnchannels() == 1 assert wavefile.getsampwidth() == 2 @@ -136,18 +191,31 @@ class Soundd: # sounddevice must be imported after forking processes import sounddevice as sd - sm = messaging.SubMaster(['controlsState', 'microphone']) + sm = messaging.SubMaster(['controlsState', 'microphone', 'frogpilotPlan']) with self.get_stream(sd) as stream: rk = Ratekeeper(20) cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}") - while True: + while not params_memory.get_bool("TestingSound"): sm.update(0) if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert - self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb) - self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) + if self.frogpilot_toggles.alert_volume_control: + self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb) + self.auto_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) + self.current_volume = 0.0 + else: + self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb) + self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x)) + + elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map: + self.current_volume = self.volume_map[self.current_alert] / 100.0 + if self.current_volume == 1.01: + self.current_volume = self.auto_volume + + elif self.current_alert in self.random_events_map: + self.current_volume = self.random_events_map[self.current_alert] self.get_audible_alert(sm) @@ -155,6 +223,35 @@ class Soundd: assert stream.active + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + self.frogpilot_toggles = get_frogpilot_toggles() + self.update_frogpilot_sounds() + + def update_frogpilot_sounds(self): + self.volume_map = { + AudibleAlert.engage: self.frogpilot_toggles.engage_volume, + AudibleAlert.disengage: self.frogpilot_toggles.disengage_volume, + AudibleAlert.refuse: self.frogpilot_toggles.refuse_volume, + + AudibleAlert.prompt: self.frogpilot_toggles.prompt_volume, + AudibleAlert.promptRepeat: self.frogpilot_toggles.prompt_volume, + AudibleAlert.promptDistracted: self.frogpilot_toggles.promptDistracted_volume, + + AudibleAlert.warningSoft: self.frogpilot_toggles.warningSoft_volume, + AudibleAlert.warningImmediate: self.frogpilot_toggles.warningImmediate_volume, + + AudibleAlert.goat: self.frogpilot_toggles.prompt_volume, + } + + if self.frogpilot_toggles.sound_pack != "stock": + self.sound_directory = Path(ACTIVE_THEME_PATH) / "sounds" + else: + self.sound_directory = Path(BASEDIR) / "selfdrive" / "assets" / "sounds" + + if self.frogpilot_toggles.sound_pack != self.previous_sound_pack: + self.load_sounds() + self.previous_sound_pack = self.frogpilot_toggles.sound_pack def main(): s = Soundd() diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index d8146723a..2a863df36 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -15,6 +15,10 @@ Reboot and Update إعادة التشغيل والتحديث + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" من أجل "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ إقران + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ تشغيل وضع الراحة + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + ميل/س + + + Reset + إعادة الضبط + + + seconds + + + + ADD + إضافة + + + REMOVE + إزالة + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + موافق + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + إعادة الضبط + + + Reset all model scores? + + + + VIEW + عرض + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + تنزيل + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + اختيار + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط. + + + Your device is pointed %1° %2 and %3° %4. + يشير جهازك إلى %1 درجة %2، و%3 درجة %4. + + + down + نحو الأسفل + + + up + نحو الأعلى + + + left + نحو اليسار + + + right + نحو اليمين + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + القياسي + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + ميل/س + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + ميل/س + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + القياسي + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + الوضع التجريبي + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + اختيار + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + تنزيل + + + SELECT + اختيار + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + اختيار + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + اختيار + + + Select a map style + + + InputDialog @@ -341,6 +3387,10 @@ تحتاج إلى %n حرف على الأقل! + + Characters: %1/%2 + + Installer @@ -374,6 +3424,10 @@ Manage at connect.comma.ai الإدارة في connect.comma.ai + + Manage at %1 + + MapWindow @@ -595,7 +3649,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -650,6 +3704,10 @@ now الآن + + FrogPilot + + Reset @@ -696,7 +3754,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -714,6 +3772,14 @@ This may take up to a minute. Software البرنامج + + ← Back + + + + FrogPilot + + Setup @@ -907,6 +3973,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -928,7 +4018,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة. + يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة. Current Version @@ -982,6 +4072,34 @@ This may take up to a minute. up to date, last checked %1 أحدث نسخة، آخر تحقق %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + عرض + + + View the error log for openpilot crashes. + + SshControl @@ -1164,7 +4282,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - يمكن اختبار نسخة ألفا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة. + يمكن اختبار نسخة ألفا من التحكم الطولي من openpilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1178,14 +4296,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1222,6 +4332,89 @@ This may take up to a minute. فشل التحديث + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + إعادة الضبط + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + إعادة الضبط + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1244,6 +4437,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 010aa4d30..f2d014812 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -15,6 +15,10 @@ Reboot and Update Aktualisieren und neu starten + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" für "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ ENTSPANNTER MODUS AN + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + Zurücksetzen + + + seconds + + + + ADD + HINZUFÜGEN + + + REMOVE + LÖSCHEN + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + RESET + + + Reset all model scores? + + + + VIEW + ANSEHEN + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + AUSWÄHLEN + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + + + Your device is pointed %1° %2 and %3° %4. + Deine Geräteausrichtung ist %1° %2 und %3° %4. + + + down + unten + + + up + oben + + + left + links + + + right + rechts + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + Experimenteller Modus + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + AUSWÄHLEN + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + + + + SELECT + AUSWÄHLEN + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + AUSWÄHLEN + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + AUSWÄHLEN + + + Select a map style + + + InputDialog @@ -337,6 +3383,10 @@ Mindestens %n Buchstaben benötigt! + + Characters: %1/%2 + + Installer @@ -370,6 +3420,10 @@ Manage at connect.comma.ai + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -633,6 +3687,10 @@ now + + FrogPilot + + Reset @@ -678,7 +3736,7 @@ This may take up to a minute. SettingsWindow × - x + x Device @@ -696,6 +3754,14 @@ This may take up to a minute. Software Software + + ← Back + + + + FrogPilot + + Setup @@ -890,6 +3956,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -912,7 +4002,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - Updates werden nur heruntergeladen, wenn das Auto aus ist. + Updates werden nur heruntergeladen, wenn das Auto aus ist. Current Version @@ -966,6 +4056,34 @@ This may take up to a minute. never + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + ANSEHEN + + + View the error log for openpilot crashes. + + SshControl @@ -1148,10 +4266,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1164,14 +4278,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1208,6 +4314,89 @@ This may take up to a minute. Aktualisierung fehlgeschlagen + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + RESET + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + Zurücksetzen + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1230,6 +4419,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index dde6adadd..938de149a 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -15,6 +15,10 @@ Reboot and Update Redémarrer et mettre à jour + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" pour "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMITE + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ MODE DÉTENTE ACTIVÉ + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mi/h + + + Reset + Réinitialiser + + + seconds + + + + ADD + AJOUTER + + + REMOVE + SUPPRIMER + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + RÉINITIALISER + + + Reset all model scores? + + + + VIEW + VOIR + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + TÉLÉCHARGER + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + SÉLECTIONNER + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + + + Your device is pointed %1° %2 and %3° %4. + Votre appareil est orienté %1° %2 et %3° %4. + + + down + bas + + + up + haut + + + left + gauche + + + right + droite + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + Standard + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mi/h + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mi/h + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + Standard + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + Mode expérimental + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + SÉLECTIONNER + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + TÉLÉCHARGER + + + SELECT + SÉLECTIONNER + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + SÉLECTIONNER + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + SÉLECTIONNER + + + Select a map style + + + InputDialog @@ -337,6 +3383,10 @@ Besoin d'au moins %n caractères ! + + Characters: %1/%2 + + Installer @@ -370,6 +3420,10 @@ Manage at connect.comma.ai Gérer sur connect.comma.ai + + Manage at %1 + + MapWindow @@ -591,7 +3645,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -634,6 +3688,10 @@ now + + FrogPilot + + Reset @@ -680,7 +3738,7 @@ Cela peut prendre jusqu'à une minute. SettingsWindow × - × + × Device @@ -698,6 +3756,14 @@ Cela peut prendre jusqu'à une minute. Software Logiciel + + ← Back + + + + FrogPilot + + Setup @@ -891,12 +3957,36 @@ Cela peut prendre jusqu'à une minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - Les MàJ sont téléchargées uniquement si la voiture est éteinte. + Les MàJ sont téléchargées uniquement si la voiture est éteinte. Current Version @@ -966,6 +4056,34 @@ Cela peut prendre jusqu'à une minute. up to date, last checked %1 à jour, dernière vérification %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + VOIR + + + View the error log for openpilot crashes. + + SshControl @@ -1144,7 +4262,7 @@ Cela peut prendre jusqu'à une minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées. + Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées. End-to-End Longitudinal Control @@ -1162,14 +4280,6 @@ Cela peut prendre jusqu'à une minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s'affichera également dans le coin supérieur droit. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1206,6 +4316,89 @@ Cela peut prendre jusqu'à une minute. Échec de la mise à jour + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + RÉINITIALISER + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + Réinitialiser + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1228,6 +4421,14 @@ Cela peut prendre jusqu'à une minute. Training data will be pulled periodically while your device is on Wi-Fi Les données d'entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index e0fb60620..0c2fc5530 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -15,6 +15,10 @@ Reboot and Update 再起動してアップデート + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" ﾈｯﾄﾜｰｸ名：%1 + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT 制限速度 + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ チルモード + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + リセット + + + seconds + + + + ADD + 追加 + + + REMOVE + 削除 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + ﾘｾｯﾄ + + + Reset all model scores? + + + + VIEW + 見る + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 選択 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 + + + Your device is pointed %1° %2 and %3° %4. + このデバイスは%2 %1°、%4 %3°の向きに設置されています。 + + + down + 下 + + + up + 上 + + + left + 左 + + + right + 右 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 実験モード + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 選択 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + + + + SELECT + 選択 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 選択 + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + 選択 + + + Select a map style + + + InputDialog @@ -336,6 +3382,10 @@ %n文字以上でお願いします！ + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai + + Manage at %1 + + MapWindow @@ -589,7 +3643,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -629,6 +3683,10 @@ now + + FrogPilot + + Reset @@ -674,7 +3732,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -692,6 +3750,14 @@ This may take up to a minute. Software ｿﾌﾄｳｪｱ + + ← Back + + + + FrogPilot + + Setup @@ -885,12 +3951,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 + 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 Current Version @@ -960,6 +4050,34 @@ This may take up to a minute. never + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 見る + + + View the error log for openpilot crashes. + + SshControl @@ -1140,10 +4258,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1156,14 +4270,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1200,6 +4306,89 @@ This may take up to a minute. 更新失敗 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + ﾘｾｯﾄ + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + リセット + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1222,6 +4411,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 56fc5014e..66bce55db 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -15,6 +15,10 @@ Reboot and Update 업데이트 및 재부팅 + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" "%1"에 접속하려면 비밀번호가 필요합니다 + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ 동기화 + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ 안정 모드 사용 + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + 초기화 + + + seconds + + + + ADD + 추가 + + + REMOVE + 삭제 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + 초기화 + + + Reset all model scores? + + + + VIEW + 보기 + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + 다운로드 + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 선택 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + + + Your device is pointed %1° %2 and %3° %4. + 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다. + + + down + 아래로 + + + up + 위로 + + + left + 좌측으로 + + + right + 우측으로 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + 표준 + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + 표준 + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 실험 모드 + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 선택 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + 다운로드 + + + SELECT + 선택 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 선택 + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + 선택 + + + Select a map style + + + InputDialog @@ -336,6 +3382,10 @@ 최소 %n자 이상이어야 합니다! + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai connect.comma.ai에서 관리하세요 + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now now + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software 소프트웨어 + + ← Back + + + + FrogPilot + + Setup @@ -887,12 +3953,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다. + 업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다. Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. never 업데이트 안함 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 보기 + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. + openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1158,14 +4276,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1202,6 +4312,89 @@ This may take up to a minute. 업데이트 실패 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + 초기화 + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + 초기화 + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4417,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi 기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다 + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index feaa6e86a..0556c2d61 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -15,6 +15,10 @@ Reboot and Update Reiniciar e Atualizar + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" para "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT VELO + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ PAREAR + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ MODO CHILL ON + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + Resetar + + + seconds + + + + ADD + ADICIONAR + + + REMOVE + REMOVER + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + OK + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + RESET + + + Reset all model scores? + + + + VIEW + VER + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + BAIXAR + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + SELECIONE + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. + + + Your device is pointed %1° %2 and %3° %4. + Seu dispositivo está montado %1° %2 e %3° %4. + + + down + baixo + + + up + cima + + + left + esquerda + + + right + direita + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + Neutro + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + Neutro + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + Modo Experimental + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + SELECIONE + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + BAIXAR + + + SELECT + SELECIONE + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + SELECIONE + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + SELECIONE + + + Select a map style + + + InputDialog @@ -337,6 +3383,10 @@ Necessita no mínimo %n caracteres! + + Characters: %1/%2 + + Installer @@ -370,6 +3420,10 @@ Manage at connect.comma.ai Gerencie em connect.comma.ai + + Manage at %1 + + MapWindow @@ -591,7 +3645,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -634,6 +3688,10 @@ now agora + + FrogPilot + + Reset @@ -680,7 +3738,7 @@ Isso pode levar até um minuto. SettingsWindow × - × + × Device @@ -698,6 +3756,14 @@ Isso pode levar até um minuto. Software Software + + ← Back + + + + FrogPilot + + Setup @@ -891,12 +3957,36 @@ Isso pode levar até um minuto. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - Atualizações baixadas durante o motor desligado. + Atualizações baixadas durante o motor desligado. Current Version @@ -966,6 +4056,34 @@ Isso pode levar até um minuto. never nunca + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + VER + + + View the error log for openpilot crashes. + + SshControl @@ -1144,7 +4262,7 @@ Isso pode levar até um minuto. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção. + Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1164,11 +4282,11 @@ Isso pode levar até um minuto. Always-On Driver Monitoring - Monitoramento do Motorista Sempre Ativo + Monitoramento do Motorista Sempre Ativo Enable driver monitoring even when openpilot is not engaged. - Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. + Habilite o monitoramento do motorista mesmo quando o openpilot não estiver acionado. @@ -1206,6 +4324,89 @@ Isso pode levar até um minuto. Falha na atualização + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + RESET + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + Resetar + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1228,6 +4429,14 @@ Isso pode levar até um minuto. Training data will be pulled periodically while your device is on Wi-Fi Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index e594a6975..293ad5bd9 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -15,6 +15,10 @@ Reboot and Update รีบูตและอัปเดต + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" สำหรับ "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT จำกัด + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ จับคู่ + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ คุณกำลังใช้โหมดชิล + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + ไมล์/ชม. + + + Reset + รีเซ็ต + + + seconds + + + + ADD + เพิ่ม + + + REMOVE + ลบ + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + พอใช้ + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + รีเซ็ต + + + Reset all model scores? + + + + VIEW + ดู + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + ดาวน์โหลด + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + เลือก + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท + + + Your device is pointed %1° %2 and %3° %4. + อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° + + + down + ด้านล่าง + + + up + ด้านบน + + + left + ด้านซ้าย + + + right + ด้านขวา + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + มาตรฐาน + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + ไมล์/ชม. + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + ไมล์/ชม. + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + มาตรฐาน + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + โหมดทดลอง + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + เลือก + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + ดาวน์โหลด + + + SELECT + เลือก + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + เลือก + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + เลือก + + + Select a map style + + + InputDialog @@ -336,6 +3382,10 @@ ต้องการอย่างน้อย %n ตัวอักษร! + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai จัดการได้ที่ connect.comma.ai + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now ตอนนี้ + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software ซอฟต์แวร์ + + ← Back + + + + FrogPilot + + Setup @@ -887,6 +3953,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -908,7 +3998,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น + ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. up to date, last checked %1 ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + ดู + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา + ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา End-to-End Longitudinal Control @@ -1158,14 +4276,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1202,6 +4312,89 @@ This may take up to a minute. การอัปเดตล้มเหลว + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + รีเซ็ต + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + รีเซ็ต + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4417,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 48615f169..69cf1e01d 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -15,6 +15,10 @@ Reboot and Update Güncelle ve Yeniden başlat + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" için "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LİMİT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + + + + seconds + + + + ADD + EKLE + + + REMOVE + KALDIR + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + TAMAM + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + SIFIRLA + + + Reset all model scores? + + + + VIEW + BAK + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. + + + Your device is pointed %1° %2 and %3° %4. + Cihazınız %1° %2 ve %3° %4 yönünde ayarlı + + + down + aşağı + + + up + yukarı + + + left + sol + + + right + sağ + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + + + + SELECT + + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + + + + Select a map style + + + InputDialog @@ -336,6 +3382,10 @@ En az %n karakter gerekli! + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai + + Manage at %1 + + MapWindow @@ -589,7 +3643,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -629,6 +3683,10 @@ now + + FrogPilot + + Reset @@ -674,7 +3732,7 @@ This may take up to a minute. SettingsWindow × - x + x Device @@ -692,6 +3750,14 @@ This may take up to a minute. Software Yazılım + + ← Back + + + + FrogPilot + + Setup @@ -885,6 +3951,30 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel @@ -904,10 +3994,6 @@ This may take up to a minute. CHECK KONTROL ET - - Updates are only downloaded while the car is off. - - Current Version @@ -960,6 +4046,34 @@ This may take up to a minute. up to date, last checked %1 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + BAK + + + View the error log for openpilot crashes. + + SshControl @@ -1140,10 +4254,6 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - - An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - - Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1156,14 +4266,6 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - - Always-On Driver Monitoring - - - - Enable driver monitoring even when openpilot is not engaged. - - Updater @@ -1200,6 +4302,89 @@ This may take up to a minute. Güncelleme başarız oldu + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + SIFIRLA + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1222,6 +4407,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 32119ee10..74a98ef15 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -15,6 +15,10 @@ Reboot and Update 重启并更新 + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" 网络名称："%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT LIMIT + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ 配对 + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ 轻松模式运行 + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + 重置 + + + seconds + + + + ADD + 添加 + + + REMOVE + 删除 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + 一般 + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + 重置 + + + Reset all model scores? + + + + VIEW + 查看 + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + 下载 + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 选择 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。 + + + Your device is pointed %1° %2 and %3° %4. + 您的设备校准为%1° %2、%3° %4。 + + + down + 朝下 + + + up + 朝上 + + + left + 朝左 + + + right + 朝右 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + 标准 + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + 标准 + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 测试模式 + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 选择 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + 下载 + + + SELECT + 选择 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 选择 + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + 选择 + + + Select a map style + + + InputDialog @@ -336,6 +3382,10 @@ 至少需要 %n 个字符！ + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai 请在 connect.comma.ai 上管理 + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now 现在 + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software 软件 + + ← Back + + + + FrogPilot + + Setup @@ -887,12 +3953,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 车辆熄火时才能下载升级文件。 + 车辆熄火时才能下载升级文件。 Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. never 从未更新 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 查看 + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。 + 在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。 Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1160,11 +4278,11 @@ This may take up to a minute. Always-On Driver Monitoring - 驾驶员监控常开 + 驾驶员监控常开 Enable driver monitoring even when openpilot is not engaged. - 即使在openpilot未激活时也启用驾驶员监控。 + 即使在openpilot未激活时也启用驾驶员监控。 @@ -1202,6 +4320,89 @@ This may take up to a minute. 更新失败 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + 重置 + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + 重置 + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4425,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi 训练数据将定期通过 Wi-Fi 上载 + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 9d1c16db9..6099a81ca 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -15,6 +15,10 @@ Reboot and Update 重啟並更新 + + Disable Internet Check + + AdvancedNetworking @@ -86,6 +90,26 @@ for "%1" 給 "%1" + + Off + + + + Always + + + + Only Onroad + + + + Until Reboot + + + + Allow tethering with your data SIM and keep it active either while driving or continuously. + + AnnotatedCameraWidget @@ -109,6 +133,156 @@ LIMIT 速限 + + Vehicle in blind spot + + + + m/s² + + + + m/s + + + + kph + + + + ft/s² + + + + Accel: %1%2 + + + + - Max: %1%2 + + + + | Obstacle: + + + + | Obstacle Factor: + + + + - Stop: + + + + - Stop Factor: + + + + Follow: + + + + Follow Distance: + + + + Confirm speed limit + + + + + Ignore speed limit + + + + + Conditional Experimental Mode ready + + + + Conditional Experimental overridden + + + + Experimental Mode manually activated + + + + Experimental Mode activated for %1 + + + + low speed + + + + speed being less than %1 %2 + + + + Experimental Mode activated for turn + + + + / lane change + + + + Experimental Mode activated for intersection + + + + Experimental Mode activated for upcoming turn + + + + Experimental Mode activated for curve + + + + Experimental Mode activated for stopped lead + + + + Experimental Mode activated for slower lead + + + + Experimental Mode activated %1 + + + + to stop + + + + Experimental Mode forced on %1 + + + + Experimental Mode activated due to no speed limit + + + + Always On Lateral active + + + + . Press the "Cruise Control" button to disable + + + + . Long press the "distance" button to revert + + + + . Click the "LKAS" button to revert + + + + . Double tap the screen to revert + + ConfirmationDialog @@ -306,6 +480,37 @@ 配對 + + DriveStats + + ALL TIME + + + + PAST WEEK + + + + FROGPILOT + + + + Drives + + + + Hours + + + + KM + + + + Miles + + + DriverViewWindow @@ -324,6 +529,2847 @@ 輕鬆模式 ON + + FrogPilotAdvancedDrivingPanel + + Advanced Lateral Tuning + + + + Advanced settings that control how openpilot manages steering. + + + + Friction (Default: %1) + + + + Friction + + + + The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. + + + + Kp Factor (Default: %1) + + + + Kp Factor + + + + How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. + + + + Lateral Accel (Default: %1) + + + + Lateral Accel + + + + Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. + + + + Steer Ratio (Default: %1) + + + + Steer Ratio + + + + Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + + + + comma's 2022 Taco Bell Turn Hack + + + + Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + + + + Force Auto Tune On + + + + Forces comma's auto lateral tuning for unsupported vehicles. + + + + Force Auto Tune Off + + + + Forces comma's auto lateral tuning off for supported vehicles. + + + + Force Turn Desires Below Lane Change Speed + + + + Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + + + + Advanced Longitudinal Tuning + + + + Advanced settings that control how openpilot manages speed and acceleration. + + + + Lead Detection Confidence + + + + How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + + + + Maximum Acceleration Rate + + + + Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + + + + Advanced Quality of Life + + + + Miscellaneous advanced features to improve your overall openpilot experience. + + + + Force Keep openpilot in the Standstill State + + + + Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + + + + Force Stop for 'Detected' Stop Lights/Signs + + + + Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + + + + Set Speed Offset + + + + How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + + + + Customize Driving Personalities + + + + Customize the personality profiles to suit your preferences. + + + + Traffic Personality + + + + Customize the 'Traffic' personality profile, tailored for navigating through traffic. + + + + Following Distance + + + + The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + + + + Acceleration Sensitivity + + + + How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + + + + Deceleration Sensitivity + + + + Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + + + + Safety Distance Sensitivity + + + + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + + + + Speed Increase Responsiveness + + + + Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + + + + Speed Decrease Responsiveness + + + + Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + + + + Reset Settings + + + + Restore the 'Traffic Mode' settings to their default values. + + + + Aggressive Personality + + + + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + + + + Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 0.5. + + + + Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. + +Default: 0.5. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 0.5. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 0.5. + + + + Restore the 'Aggressive' settings to their default values. + + + + Standard Personality + + + + Customize the 'Standard' personality profile, optimized for balanced driving. + + + + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Standard' settings to their default values. + + + + Relaxed Personality + + + + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + + + + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. + + + + Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. + +Default: 1.0. + + + + Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. + + + + Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. + +Default: 1.0. + + + + Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. + +Default: 1.0. + + + + Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. + +Default: 1.0. + + + + Restore the 'Relaxed' settings to their default values. + + + + Model Management + + + + Manage the driving models used by openpilot. + + + + Automatically Update and Download Models + + + + Automatically download new or updated driving models. + + + + Model Randomizer + + + + A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + + + + Manage Model Blacklist + + + + Control which models are blacklisted and won't be used for future drives. + + + + Reset Model Scores + + + + Clear the ratings you've given to the driving models. + + + + Review Model Scores + + + + View the ratings you've assigned to the driving models. + + + + Delete Model + + + + Remove the selected driving model from your device. + + + + Download Model + + + + Download undownloaded driving models. + + + + Download All Models + + + + Download all undownloaded driving models. + + + + Select Model + + + + Select which model openpilot uses to drive. + + + + Reset Model Calibrations + + + + Reset calibration settings for the driving models. + + + + mph + mph + + + Reset + 重設 + + + seconds + + + + ADD + 新增 + + + REMOVE + 移除 + + + There's no more models to blacklist! The only available model is "%1"! + + + + OK + 一般 + + + Select a model to add to the blacklist + + + + Are you sure you want to add the '%1' model to the blacklist? + + + + Add + + + + Select a model to remove from the blacklist + + + + Are you sure you want to remove the '%1' model from the blacklist? + + + + Remove + + + + RESET + 重設 + + + Reset all model scores? + + + + VIEW + 觀看 + + + DELETE + + + + Select a model to delete + + + + Are you sure you want to delete the '%1' model? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + DOWNLOAD + 下載 + + + CANCEL + + + + Select a driving model to download + + + + Downloading %1... + + + + SELECT + 選取 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + + + + WARNING: This is a very experimental model and may drive dangerously! + + + + I understand the risks. + + + + Start with a fresh calibration for the newly selected model? + + + + Reboot required to take effect. + + + + Reboot Now + + + + RESET ALL + + + + RESET ONE + + + + Are you sure you want to completely reset all of your model calibrations? + + + + Select a model to reset + + + + Are you sure you want to completely reset this model's calibrations? + + + + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + + + + Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + + + + Are you sure you want to completely reset your settings for the 'Aggressive' personality? + + + + Are you sure you want to completely reset your settings for the 'Standard' personality? + + + + Are you sure you want to completely reset your settings for the 'Relaxed' personality? + + + + kph + + + + Downloading models... + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 + + + Your device is pointed %1° %2 and %3° %4. + 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 + + + down + 下 + + + up + 上 + + + left + 左 + + + right + 右 + + + + FrogPilotAdvancedVisualsPanel + + Advanced Onroad UI Widgets + + + + Advanced user customizations for the Onroad UI. + + + + Camera View + + + + Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + + + + Display Stopping Points + + + + Display an image on the screen where openpilot is detecting a potential red light/stop sign. + + + + Hide Lead Marker + + + + Hide the marker for the vehicle ahead on the screen. + + + + Hide Speed + + + + Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + + + + Hide UI Elements + + + + Hide the selected UI elements from the onroad screen. + + + + Use Wheel Speed + + + + Use the wheel speed instead of the cluster speed in the onroad UI. + + + + Developer UI + + + + Show detailed information about openpilot's internal operations. + + + + Border Metrics + + + + Display performance metrics around the edge of the screen while driving. + + + + FPS Display + + + + Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + + + + Lateral Metrics + + + + Display metrics related to steering control at the top of the screen while driving. + + + + Longitudinal Metrics + + + + Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + + + + Numerical Temperature Gauge + + + + Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + + + + Sidebar + + + + Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + + + + Use International System of Units + + + + Display measurements using the 'International System of Units' (SI). + + + + Model UI + + + + Customize the model visualizations on the screen. + + + + Lane Lines Width + + + + How thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Path Edges Width + + + + The width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden + + + + Path Width + + + + How wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + + + + Road Edges Width + + + + How thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. + + + + 'Unlimited' Road UI + + + + Extend the display of the path, lane lines, and road edges as far as the model can see. + + + + Auto + + + + Driver + + + + Standard + 標準 + + + Wide + + + + Control Via UI + + + + Alerts + + + + Map Icon + + + + Max Speed + + + + Show Distance + + + + Blind Spot + + + + Steering Torque + + + + Turn Signal + + + + Adjacent Path Metrics + + + + Auto Tune + + + + Lead Info + + + + Longitudinal Jerk + + + + Fahrenheit + + + + CPU + + + + GPU + + + + IP + + + + RAM + + + + SSD Left + + + + SSD Used + + + + inches + + + + % + + + + feet + + + + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. + + + + centimeters + + + + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. + + + + + FrogPilotConfirmationDialog + + Reboot Later + + + + Yes + + + + No + + + + + FrogPilotDataPanel + + Delete Driving Footage and Data + + + + DELETE + + + + This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + + + + Are you sure you want to permanently delete all of your driving footage and data? + + + + Delete + + + + Deleting... + + + + Deleted! + + + + Screen Recordings + + + + Manage your screen recordings. + + + + RENAME + + + + Select a recording to delete + + + + Are you sure you want to delete this recording? + + + + Failed... + + + + Select a recording to rename + + + + Enter a new name + + + + Rename Recording + + + + Renaming... + + + + Renamed! + + + + FrogPilot Backups + + + + Manage your FrogPilot backups. + + + + BACKUP + + + + RESTORE + + + + Name your backup + + + + Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + + + + Backing... + + + + Compressing... + + + + Success! + + + + Select a backup to delete + + + + Are you sure you want to delete this backup? + + + + Select a restore point + + + + Are you sure you want to restore this version of FrogPilot? + + + + Restore + + + + Restoring... + + + + Extracting... + + + + Restored! + + + + Rebooting... + + + + Toggle Backups + + + + Manage your toggle backups. + + + + Are you sure you want to restore this toggle backup? + + + + + FrogPilotDevicePanel + + Device Settings + + + + Device behavior settings. + + + + Device Shutdown Timer + + + + How long the device stays on after you stop driving. + + + + Disable Internet Requirement + + + + The device can work without an internet connection for as long as you need. + + + + Increase Thermal Safety Limit + + + + The device can run at higher temperatures than recommended. + + + + Low Battery Shutdown Threshold + + + + Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + + + + Turn Off Data Tracking + + + + Disable all tracking to improve privacy. + + + + Turn Off Data Uploads + + + + Stop the device from sending any data to the servers. + + + + Screen Settings + + + + Screen behavior settings. + + + + Screen Brightness (Offroad) + + + + The screen brightness when you're not driving. + + + + Screen Brightness (Onroad) + + + + The screen brightness while you're driving. + + + + Screen Recorder + + + + Display a button in the onroad UI to record the screen. + + + + Screen Timeout (Offroad) + + + + How long it takes for the screen to turn off when you're not driving. + + + + Screen Timeout (Onroad) + + + + How long it takes for the screen to turn off while you're driving. + + + + 5 mins + + + + mins + + + + hour + + + + hours + + + + Only Onroad + + + + volts + + + + Auto + + + + seconds + + + + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + + + + I understand the risks. + + + + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + + + + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + + + + + FrogPilotLateralPanel + + Always on Lateral + + + + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + + + + Control with LKAS Button + + + + 'Always on Lateral' gets turned on or off using the 'LKAS' button. + + + + Enable with Cruise Control + + + + 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + + + + Pause on Brake Below + + + + 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Always on Lateral' is hidden. + + + + Lane Change Settings + + + + How openpilot handles lane changes. + + + + Hands-Free Lane Change + + + + Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + + + + Lane Change Delay + + + + How long openpilot waits before changing lanes. + + + + Lane Width Requirement + + + + The minimum lane width for openpilot to detect a lane as a lane. + + + + Minimum Speed for Lane Change + + + + The minimum speed required for openpilot to perform a lane change. + + + + Single Lane Change Per Signal + + + + Lane changes are limited to one per turn signal activation. + + + + Lateral Tuning + + + + Settings that control how openpilot manages steering. + + + + Neural Network Feedforward (NNFF) + + + + Twilsonco's 'Neural Network FeedForward' for more precise steering control. + + + + Smooth Curve Handling + + + + Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + + + + Quality of Life Improvements + + + + Miscellaneous lateral focused features to improve your overall openpilot experience. + + + + Pause Steering Below + + + + Pauses steering control when driving below the set speed. + + + + mph + mph + + + feet + + + + Reboot required to take effect. + + + + Reboot Now + + + + kph + + + + meters + + + + + FrogPilotLongitudinalPanel + + Conditional Experimental Mode + + + + Automatically switches to 'Experimental Mode' when specific conditions are met. + + + + Below + + + + 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + + + + Curve Detected Ahead + + + + 'Experimental Mode' is active when a curve is detected in the road ahead. + + + + Lead Detected Ahead + + + + 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + + + + Navigation Data + + + + 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + + + + openpilot Wants to Stop In + + + + 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + + + + Turn Signal Below + + + + 'Experimental Mode' is active when using turn signals below the set speed. + + + + Hide the Status Bar + + + + The status bar for 'Conditional Experimental Mode' is hidden. + + + + Curve Speed Control + + + + Automatically slow down for curves detected ahead or through the downloaded maps. + + + + Curve Detection Method + + + + The method used to detect curves. + + + + Curve Detection Failsafe + + + + Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + + + + Curve Sensitivity + + + + How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + + + + Turn Speed Aggressiveness + + + + How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + + + + Disable Speed Value Smoothing In the UI + + + + Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + + + + Experimental Mode Activation + + + + 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. + +This overrides 'Conditional Experimental Mode'. + + + + Click the LKAS Button + + + + 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + + + + Double-Tap the Screen + + + + 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + + + + Long Press the Distance Button + + + + 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + + + + Longitudinal Tuning + + + + Settings that control how openpilot manages speed and acceleration. + + + + Acceleration Profile + + + + Choose between a sporty or eco-friendly acceleration rate. + + + + Deceleration Profile + + + + Choose between a sporty or eco-friendly deceleration rate. + + + + Human-Like Acceleration + + + + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + + + + Human-Like Following Distance + + + + Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + + + + Increase Stopped Distance + + + + Increases the distance to stop behind vehicles. + + + + Quality of Life Improvements + + + + Miscellaneous longitudinal focused features to improve your overall openpilot experience. + + + + Cruise Increase Interval + + + + Interval used when increasing the cruise control speed. + + + + Custom Cruise Interval (Long Press) + + + + Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + + + + Map Accel/Decel to Gears + + + + Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + + + + Onroad Personality Button + + + + The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + + + + Reverse Cruise Increase + + + + The long press feature is reversed in order to increase speed by 5 mph instead of 1. + + + + Speed Limit Controller + + + + Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + + + + Confirm New Speed Limits + + + + Require manual confirmation before using a new speed limit. + + + + Fallback Method + + + + Choose what happens when no speed limit data is available. + + + + Override Method + + + + Choose how you want to override the current speed limit. + + + + + + Speed Limit Source Priority + + + + Set the order of priority for speed limit data sources. + + + + Speed Limit Offsets + + + + Manage toggles related to 'Speed Limit Controller's controls. + + + + Speed Limit Offset (0-34 mph) + + + + Set the speed limit offset for speeds between 0 and 34 mph. + + + + Speed Limit Offset (35-54 mph) + + + + Set the speed limit offset for speeds between 35 and 54 mph. + + + + Speed Limit Offset (55-64 mph) + + + + Set the speed limit offset for speeds between 55 and 64 mph. + + + + Speed Limit Offset (65-99 mph) + + + + Set the speed limit offset for speeds between 65 and 99 mph. + + + + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + + + + Force MPH Readings from Dashboard + + + + Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + + + + Prepare for Higher Speed Limits + + + + Set a lookahead value to prepare for upcoming higher speed limits based on map data. + + + + Prepare for Lower Speed Limits + + + + Set a lookahead value to prepare for upcoming lower speed limits based on map data. + + + + Set Speed to Current Limit + + + + Set your max speed to match the current speed limit when enabling openpilot. + + + + Visual Settings + + + + Manage visual settings for the 'Speed Limit Controller'. + + + + Use Vienna-Style Speed Signs + + + + Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + + + + Show Speed Limit Offset + + + + Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + + + + mph + mph + + + With Lead + + + + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + + + + With Lead + + + + Slower Lead + + + + Stopped Lead + + + + Intersections + + + + Turns + + + + Off + + + + Map Based + + + + Vision + + + + Standard + 標準 + + + Eco + + + + Sport + + + + Sport+ + + + + feet + + + + Acceleration + + + + Deceleration + + + + Lower Limits + + + + Higher Limits + + + + None + + + + Set Speed + + + + Experimental Mode + 實驗模式 + + + Previous Limit + + + + Gas Pedal Press + + + + Cruise Set Speed + + + + SELECT + 選取 + + + Dashboard + + + + Navigation + + + + Offline Maps + + + + Highest + + + + Lowest + + + + Select your primary priority + + + + Select your secondary priority + + + + Select your tertiary priority + + + + MANAGE + + + + seconds + + + + Control Via UI + + + + Speed Limit Offset (0-34 kph) + + + + Speed Limit Offset (35-54 kph) + + + + Speed Limit Offset (55-64 kph) + + + + Speed Limit Offset (65-99 kph) + + + + Set speed limit offset for limits between 0-34 kph. + + + + Set speed limit offset for limits between 35-54 kph. + + + + Set speed limit offset for limits between 55-64 kph. + + + + Set speed limit offset for limits between 65-99 kph. + + + + kph + + + + meters + + + + Set speed limit offset for limits between 0-34 mph. + + + + Set speed limit offset for limits between 35-54 mph. + + + + Set speed limit offset for limits between 55-64 mph. + + + + Set speed limit offset for limits between 65-99 mph. + + + + + FrogPilotParamManageControl + + MANAGE + + + + + FrogPilotSettingsWindow + + Advanced Settings + + + + Alerts and Sounds + + + + Driving Controls + + + + Navigation + + + + System Management + + + + Theme and Appearance + + + + Vehicle Controls + + + + Advanced FrogPilot features for more experienced users. + + + + Options to customize FrogPilot's sound alerts and notifications. + + + + FrogPilot features than impact acceleration, braking, and steering. + + + + Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + + + + Tools and system utilities used to maintain and troubleshoot FrogPilot. + + + + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + + + + Vehicle-specific settings and configurations for supported makes and models. + + + + DRIVING + + + + VISUALS + + + + MANAGE + + + + GAS / BRAKE + + + + STEERING + + + + DATA + + + + DEVICE + + + + UTILITIES + + + + APPEARANCE + + + + THEME + + + + + FrogPilotSoundsPanel + + Alert Volume Controller + + + + Control the volume level for each individual sound in openpilot. + + + + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low + + + + Engage Volume + + + + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged + + + + Prompt Volume + + + + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + + + + Prompt Distracted Volume + + + + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive + + + + Refuse Volume + + + + Related alerts: + +openpilot Unavailable + + + + Warning Soft Volume + + + + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY + + + + Warning Immediate Volume + + + + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive + + + + Custom Alerts + + + + Enable custom alerts for openpilot events. + + + + Goat Scream Steering Saturated Alert + + + + Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + + + + Green Light Alert + + + + Get an alert when a traffic light changes from red to green. + + + + Lead Departing Alert + + + + Get an alert when the lead vehicle starts departing when at a standstill. + + + + Loud Blindspot Alert + + + + Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + + + + Speed Limit Change Alert + + + + Trigger an alert when the speed limit changes. + + + + + FrogPilotThemesPanel + + Custom Theme + + + + Custom openpilot themes. + + + + Color Scheme + + + + Themed color schemes. + +Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + + + + Icon Pack + + + + Themed icon packs. + +Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Sound Pack + + + + Themed sound effects. + +Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Steering Wheel + + + + Custom steering wheel icons. + + + + Turn Signal Animation + + + + Themed turn signal animations. + +Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + + + + Download Status + + + + Holiday Themes + + + + Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + + + + Random Events + + + + Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + + + + Startup Alert + + + + Custom 'Startup' alert message that appears when you start driving. + + + + DELETE + + + + DOWNLOAD + 下載 + + + SELECT + 選取 + + + Select a color scheme to delete + + + + Are you sure you want to delete the '%1' color scheme? + + + + Delete + + + + Select a color scheme to download + + + + Select a color scheme + + + + Select an icon pack to delete + + + + Are you sure you want to delete the '%1' icon pack? + + + + Select an icon pack to download + + + + Select an icon pack + + + + Select a signal pack to delete + + + + Are you sure you want to delete the '%1' signal pack? + + + + Select a signal pack to download + + + + Select a signal pack + + + + Select a sound pack to delete + + + + Are you sure you want to delete the '%1' sound scheme? + + + + Select a sound pack to download + + + + Select a sound scheme + + + + Select a steering wheel to delete + + + + Are you sure you want to delete the '%1' steering wheel image? + + + + Select a steering wheel to download + + + + Select a steering wheel + + + + STOCK + + + + FROGPILOT + + + + CUSTOM + + + + CLEAR + + + + Enter your text for the top half + + + + Characters: 0/%1 + + + + Enter your text for the bottom half + + + + CANCEL + + + + + FrogPilotVehiclesPanel + + Select Make + + + + SELECT + 選取 + + + Select a Make + + + + Select Model + + + + Select a Model + + + + Disable Automatic Fingerprint Detection + + + + Forces the selected fingerprint and prevents it from ever changing. + + + + Disable openpilot Longitudinal Control + + + + Disable openpilot longitudinal control and use stock ACC instead. + + + + Are you sure you want to completely disable openpilot longitudinal control? + + + + Reboot required to take effect. + + + + Reboot Now + + + + 2017 Volt Stop and Go Hack + + + + Force stop and go for the 2017 Chevy Volt. + + + + Experimental GM Tune + + + + FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + + + + Uphill/Downhill Smoothing + + + + Smoothen the car’s gas and brake response when driving on slopes. + + + + Use comma's New Longitudinal API + + + + Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + + + + Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Automatically lock the doors when in drive and unlock when in park. + + + + Cluster Speed Offset + + + + Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + + + + FrogsGoMoo's Personal Tweaks + + + + Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + + + + Stop and Go Hack + + + + Force stop and go for vehicles without stock stop and go functionality. + + + + Lock + + + + Unlock + + + + + FrogPilotVisualsPanel + + Onroad UI Widgets + + + + Custom FrogPilot widgets used in the onroad user interface. + + + + Compass + + + + A compass in the onroad UI to show the current driving direction. + + + + Dynamic Path Width + + + + Automatically adjust the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% + + + + Gas/Brake Pedal Indicators + + + + Pedal indicators in the onroad UI that change opacity based on the pressure applied. + + + + Paths + + + + Projected acceleration path, detected lanes, and vehicles in the blind spot. + + + + Road Name + + + + The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + + + + Rotating Steering Wheel + + + + The steering wheel in the onroad UI rotates along with your steering wheel movements. + + + + Quality of Life Improvements + + + + Miscellaneous visual focused features to improve your overall openpilot experience. + + + + Larger Map Display + + + + A larger size of the map in the onroad UI for easier navigation readings. + + + + Map Style + + + + Custom map styles for the map used during navigation. + + + + Screen Standby Mode + + + + The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + + + + Show Driver Camera When In Reverse + + + + The driver camera feed is displayed when the vehicle is in reverse. + + + + Stopped Timer + + + + A timer on the onroad UI to indicate how long the vehicle has been stopped. + + + + Acceleration + + + + Adjacent + + + + Blind Spot + + + + Dynamic + + + + Static + + + + Full Map + + + + Stock openpilot + + + + Mapbox Streets + + + + Mapbox Outdoors + + + + Mapbox Light + + + + Mapbox Dark + + + + Mapbox Satellite + + + + Mapbox Satellite Streets + + + + Mapbox Navigation Day + + + + Mapbox Navigation Night + + + + Mapbox Traffic Night + + + + mike854's (Satellite hybrid) + + + + SELECT + 選取 + + + Select a map style + + + InputDialog @@ -336,6 +3382,10 @@ 需要至少 %n 個字元！ + + Characters: %1/%2 + + Installer @@ -369,6 +3419,10 @@ Manage at connect.comma.ai 請在 connect.comma.ai 上管理 + + Manage at %1 + + MapWindow @@ -590,7 +3644,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -630,6 +3684,10 @@ now 現在 + + FrogPilot + + Reset @@ -676,7 +3734,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -694,6 +3752,14 @@ This may take up to a minute. Software 軟體 + + ← Back + + + + FrogPilot + + Setup @@ -887,12 +3953,36 @@ This may take up to a minute. 5G 5G + + GPU + + + + CPU + + + + GB + + + + MEMORY + + + + LEFT + + + + USED + + SoftwarePanel Updates are only downloaded while the car is off. - 系統更新只會在熄火時下載。 + 系統更新只會在熄火時下載。 Current Version @@ -962,6 +4052,34 @@ This may take up to a minute. never 從未更新 + + Updates are only downloaded while the car is off or in park. + + + + Automatically Update FrogPilot + + + + FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. + + + + Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. + + + + Error Log + + + + VIEW + 觀看 + + + View the error log for openpilot crashes. + + SshControl @@ -1140,7 +4258,7 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。 + 在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。 Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. @@ -1160,11 +4278,11 @@ This may take up to a minute. Always-On Driver Monitoring - 駕駛監控常開 + 駕駛監控常開 Enable driver monitoring even when openpilot is not engaged. - 即使在openpilot未激活時也啟用駕駛監控。 + 即使在openpilot未激活時也啟用駕駛監控。 @@ -1202,6 +4320,89 @@ This may take up to a minute. 更新失敗 + + UtilitiesPanel + + Flash Panda + + + + FLASH + + + + Use this button to flash the Panda device's firmware if you're running into issues. + + + + Are you sure you want to flash the Panda? + + + + Flash + + + + Flashing... + + + + Flashed! + + + + Rebooting... + + + + Force Started State + + + + Force openpilot either offroad or onroad. + + + + OFFROAD + + + + ONROAD + + + + OFF + + + + Reset Toggles to Default + + + + RESET + 重設 + + + Reset your toggle settings back to their default settings. + + + + Are you sure you want to completely reset all of your toggle settings? + + + + Reset + 重設 + + + Resetting... + + + + Reset! + + + WiFiPromptWidget @@ -1224,6 +4425,14 @@ This may take up to a minute. Training data will be pulled periodically while your device is on Wi-Fi 訓練數據將定期經過 Wi-Fi 上傳 + + Uploading disabled + + + + Toggle off the 'Disable Uploading' toggle to enable uploads. + + WifiUI diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c70b7594c..ca9f71f30 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -45,11 +45,23 @@ int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_h } void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { - for (int i = 0; i < 2; ++i) { - auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); + SubMaster &sm = *(s->sm); + float path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0]; + + cereal::RadarState::LeadData::Reader (cereal::RadarState::Reader::*get_lead_data[6])() const = { + &cereal::RadarState::Reader::getLeadOne, + &cereal::RadarState::Reader::getLeadTwo, + &cereal::RadarState::Reader::getLeadLeft, + &cereal::RadarState::Reader::getLeadRight, + &cereal::RadarState::Reader::getLeadLeftFar, + &cereal::RadarState::Reader::getLeadRightFar + }; + + for (int i = 0; i < 6; ++i) { + auto lead_data = (radar_state.*get_lead_data[i])(); if (lead_data.getStatus()) { float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; - calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]); + calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &s->scene.lead_vertices[i]); } } } @@ -79,12 +91,17 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, void update_model(UIState *s, const cereal::ModelDataV2::Reader &model, const cereal::UiPlan::Reader &plan) { + SubMaster &sm = *(s->sm); UIScene &scene = s->scene; + scene.left_curve = model.getOrientationRate().getZ()[33 - 1] < 0; + float path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0]; auto plan_position = plan.getPosition(); + scene.model_length = model.getPosition().getX()[33 - 1]; if (plan_position.getX().size() < model.getPosition().getX().size()) { plan_position = model.getPosition(); } - float max_distance = std::clamp(*(plan_position.getX().end() - 1), + float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) : + std::clamp(*(plan_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines @@ -93,7 +110,7 @@ void update_model(UIState *s, int max_idx = get_path_length_idx(lane_lines[0], max_distance); for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { scene.lane_line_probs[i] = lane_line_probs[i]; - update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); + update_line_data(s, lane_lines[i], (scene.model_ui ? scene.lane_line_width : 0.025) * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); } // update road edges @@ -101,17 +118,46 @@ void update_model(UIState *s, const auto road_edge_stds = model.getRoadEdgeStds(); for (int i = 0; i < std::size(scene.road_edge_vertices); i++) { scene.road_edge_stds[i] = road_edge_stds[i]; - update_line_data(s, road_edges[i], 0.025, 0, &scene.road_edge_vertices[i], max_idx); + update_line_data(s, road_edges[i], scene.model_ui ? scene.road_edge_width : 0.025, 0, &scene.road_edge_vertices[i], max_idx); + } + + // Update adjacent paths + for (int i = 4; i <= 5; i++) { + update_line_data(s, lane_lines[i], (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2.0f, 0, &scene.track_adjacent_vertices[i], max_idx, false); } // update path - auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); - if (lead_one.getStatus()) { - const float lead_d = lead_one.getDRel() * 2.; - max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); + float path_width; + if (scene.dynamic_path_width) { + float multiplier = scene.enabled ? 1.0f : scene.always_on_lateral_active ? 0.75f : 0.50f; + path_width = scene.path_width * multiplier; + } else { + path_width = scene.path_width; + } + + if (scene.radarless_model) { + auto lead_count = model.getLeadsV3().size(); + if (lead_count > 0) { + auto lead_one = model.getLeadsV3()[0]; + + if (lead_one.getProb() > scene.lead_detection_probability) { + const float lead_d = lead_one.getX()[0] * 2.; + max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); + } + } + } else { + auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); + + if (lead_one.getModelProb() > scene.lead_detection_probability) { + const float lead_d = lead_one.getDRel() * 2.; + max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); + } } max_idx = get_path_length_idx(plan_position, max_distance); - update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false); + update_line_data(s, plan_position, scene.model_ui ? path_width * (1 - (scene.path_edge_width / 100.0f)) : 0.9, path_offset_z, &scene.track_vertices, max_idx, false); + + // Update path edges + update_line_data(s, plan_position, scene.model_ui ? path_width : 0, path_offset_z, &scene.track_edge_vertices, max_idx, false); } void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { @@ -154,6 +200,7 @@ static void update_sockets(UIState *s) { } static void update_state(UIState *s) { + Params params = Params(); SubMaster &sm = *(s->sm); UIScene &scene = s->scene; @@ -197,9 +244,94 @@ static void update_state(UIState *s) { } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) { scene.pandaType = cereal::PandaState::PandaType::UNKNOWN; } + if (sm.updated("carControl")) { + auto carControl = sm["carControl"].getCarControl(); + scene.steer = carControl.getActuators().getSteer(); + } if (sm.updated("carParams")) { scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); } + if (sm.updated("carState")) { + auto carState = sm["carState"].getCarState(); + scene.acceleration = carState.getAEgo(); + scene.blind_spot_left = carState.getLeftBlindspot(); + scene.blind_spot_right = carState.getRightBlindspot(); + scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK; + scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE; + scene.standstill = carState.getStandstill() && !scene.reverse; + scene.steering_angle_deg = -carState.getSteeringAngleDeg(); + scene.turn_signal_left = carState.getLeftBlinker(); + scene.turn_signal_right = carState.getRightBlinker(); + } + if (sm.updated("controlsState")) { + auto controlsState = sm["controlsState"].getControlsState(); + scene.enabled = controlsState.getEnabled(); + scene.experimental_mode = scene.enabled && controlsState.getExperimentalMode(); + } + if (sm.updated("deviceState")) { + auto deviceState = sm["deviceState"].getDeviceState(); + scene.online = deviceState.getNetworkType() != cereal::DeviceState::NetworkType::NONE; + } + if (sm.updated("frogpilotCarControl")) { + auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl(); + scene.always_on_lateral_active = !scene.enabled && frogpilotCarControl.getAlwaysOnLateralActive(); + } + if (sm.updated("frogpilotCarState")) { + auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState(); + scene.brake_lights_on = frogpilotCarState.getBrakeLights(); + scene.dashboard_speed_limit = frogpilotCarState.getDashboardSpeedLimit(); + scene.traffic_mode_active = frogpilotCarState.getTrafficModeActive(); + } + if (sm.updated("frogpilotNavigation")) { + auto frogpilotNavigation = sm["frogpilotNavigation"].getFrogpilotNavigation(); + scene.navigation_speed_limit = frogpilotNavigation.getNavigationSpeedLimit(); + } + if (sm.updated("frogpilotPlan")) { + auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan(); + scene.acceleration_jerk = frogpilotPlan.getAccelerationJerk(); + scene.acceleration_jerk_difference = frogpilotPlan.getAccelerationJerkStock() - scene.acceleration_jerk; + scene.desired_follow = frogpilotPlan.getDesiredFollowDistance(); + scene.lane_width_left = frogpilotPlan.getLaneWidthLeft(); + scene.lane_width_right = frogpilotPlan.getLaneWidthRight(); + scene.mtsc_speed = frogpilotPlan.getMtscSpeed(); + scene.red_light = frogpilotPlan.getRedLight(); + scene.speed_jerk = frogpilotPlan.getSpeedJerk(); + scene.speed_jerk_difference = frogpilotPlan.getSpeedJerkStock() - scene.speed_jerk; + scene.speed_limit = frogpilotPlan.getSlcSpeedLimit(); + scene.speed_limit_changed = scene.speed_limit_controller && frogpilotPlan.getSpeedLimitChanged(); + scene.speed_limit_map = frogpilotPlan.getSlcMapSpeedLimit(); + scene.speed_limit_offset = frogpilotPlan.getSlcSpeedLimitOffset(); + scene.speed_limit_overridden = frogpilotPlan.getSlcOverridden(); + scene.speed_limit_overridden_speed = frogpilotPlan.getSlcOverriddenSpeed(); + scene.speed_limit_source = frogpilotPlan.getSlcSpeedLimitSource().cStr(); + scene.unconfirmed_speed_limit = frogpilotPlan.getUnconfirmedSlcSpeedLimit(); + scene.upcoming_speed_limit = frogpilotPlan.getUpcomingSLCSpeedLimit(); + scene.vtsc_controlling_curve = frogpilotPlan.getVtscControllingCurve(); + scene.vtsc_speed = frogpilotPlan.getVtscSpeed(); + if (frogpilotPlan.getTogglesUpdated() && sm.frame % UI_FREQ == 0) { + scene.frogpilot_toggles = QJsonDocument::fromJson(s->params_memory.get("FrogPilotToggles", true).c_str()).object(); + + ui_update_params(s); + ui_update_theme(s); + } + } + if (sm.updated("liveLocationKalman")) { + auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman(); + auto orientation = liveLocationKalman.getCalibratedOrientationNED(); + if (orientation.getValid()) { + scene.bearing_deg = RAD2DEG(orientation.getValue()[2]); + } + } + if (sm.updated("liveTorqueParameters")) { + auto liveTorqueParameters = sm["liveTorqueParameters"].getLiveTorqueParameters(); + scene.friction = liveTorqueParameters.getFrictionCoefficientFiltered(); + scene.lat_accel = liveTorqueParameters.getLatAccelFactorFiltered(); + scene.live_valid = liveTorqueParameters.getLiveValid(); + } + if (sm.updated("navInstruction")) { + auto navInstruction = sm["navInstruction"].getNavInstruction(); + scene.upcoming_maneuver_distance = navInstruction.getManeuverDistance(); + } if (sm.updated("wideRoadCameraState")) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; @@ -220,28 +352,162 @@ void ui_update_params(UIState *s) { auto params = Params(); s->scene.is_metric = params.getBool("IsMetric"); s->scene.map_on_left = params.getBool("NavSettingLeftSide"); + + ui_update_frogpilot_params(s); +} + +void ui_update_frogpilot_params(UIState *s) { + UIScene &scene = s->scene; + + scene.acceleration_path = scene.frogpilot_toggles.value("acceleration_path").toBool(); + scene.adjacent_path = scene.frogpilot_toggles.value("adjacent_paths").toBool(); + scene.adjacent_path_metrics = scene.frogpilot_toggles.value("adjacent_path_metrics").toBool(); + scene.always_on_lateral = scene.frogpilot_toggles.value("always_on_lateral").toBool(); + scene.big_map = scene.frogpilot_toggles.value("big_map").toBool(); + scene.blind_spot_path = scene.frogpilot_toggles.value("blind_spot_path").toBool(); + scene.camera_view = scene.frogpilot_toggles.value("camera_view").toDouble(); + scene.cem_status = scene.frogpilot_toggles.value("cem_status").toBool(); + scene.compass = scene.frogpilot_toggles.value("compass").toBool(); + scene.conditional_experimental = scene.frogpilot_toggles.value("conditional_experimental_mode").toBool(); + scene.cpu_metrics = scene.frogpilot_toggles.value("cpu_metrics").toBool(); + scene.driver_camera_in_reverse = scene.frogpilot_toggles.value("driver_camera_in_reverse").toBool(); + scene.dynamic_path_width = scene.frogpilot_toggles.value("dynamic_path_width").toBool(); + scene.dynamic_pedals_on_ui = scene.frogpilot_toggles.value("dynamic_pedals_on_ui").toBool(); + scene.experimental_mode_via_tap = scene.frogpilot_toggles.value("experimental_mode_via_tap").toBool(); + scene.fahrenheit = scene.frogpilot_toggles.value("fahrenheit").toBool(); + scene.frogs_go_moo = scene.frogpilot_toggles.value("frogs_go_moo").toBool(); + scene.full_map = scene.frogpilot_toggles.value("full_map").toBool(); + scene.gpu_metrics = scene.frogpilot_toggles.value("gpu_metrics").toBool(); + scene.hide_alerts = scene.frogpilot_toggles.value("hide_alerts").toBool(); + scene.hide_csc_ui = scene.frogpilot_toggles.value("hide_csc_ui").toBool(); + scene.hide_lead_marker = scene.frogpilot_toggles.value("hide_lead_marker").toBool(); + scene.hide_map_icon = scene.frogpilot_toggles.value("hide_map_icon").toBool(); + scene.hide_max_speed = scene.frogpilot_toggles.value("hide_max_speed").toBool(); + scene.hide_speed = scene.frogpilot_toggles.value("hide_speed").toBool(); + scene.hide_speed_limit = scene.frogpilot_toggles.value("hide_speed_limit").toBool(); + scene.ip_metrics = scene.frogpilot_toggles.value("ip_metrics").toBool(); + scene.jerk_metrics = scene.frogpilot_toggles.value("jerk_metrics").toBool(); + scene.lateral_tuning_metrics = scene.frogpilot_toggles.value("lateral_tuning_metrics").toBool(); + scene.lane_detection_width = scene.frogpilot_toggles.value("lane_detection_width").toDouble(); + scene.lane_line_width = scene.frogpilot_toggles.value("lane_line_width").toDouble(); + scene.lead_detection_probability = scene.frogpilot_toggles.value("lead_detection_probability").toDouble(); + scene.lead_metrics = scene.frogpilot_toggles.value("lead_metrics").toBool(); + scene.map_style = scene.frogpilot_toggles.value("map_style").toDouble(); + scene.memory_metrics = scene.frogpilot_toggles.value("memory_metrics").toBool(); + scene.minimum_lane_change_speed = scene.frogpilot_toggles.value("minimum_lane_change_speed").toDouble(); + scene.model = scene.frogpilot_toggles.value("model").toString(); + scene.model_name = scene.frogpilot_toggles.value("model_name").toString(); + scene.model_randomizer = scene.frogpilot_toggles.value("model_randomizer").toBool(); + scene.model_ui = scene.frogpilot_toggles.value("model_ui").toBool(); + scene.mtsc_enabled = scene.frogpilot_toggles.value("map_turn_speed_controller").toBool(); + scene.no_logging = scene.frogpilot_toggles.value("no_logging").toBool(); + scene.no_uploads = scene.frogpilot_toggles.value("no_uploads").toBool(); + scene.numerical_temp = scene.frogpilot_toggles.value("numerical_temp").toBool(); + scene.onroad_distance_button = scene.frogpilot_toggles.value("onroad_distance_button").toBool(); + scene.path_edge_width = scene.frogpilot_toggles.value("path_edge_width").toDouble(); + scene.path_width = scene.frogpilot_toggles.value("path_width").toDouble(); + scene.pedals_on_ui = scene.frogpilot_toggles.value("pedals_on_ui").toBool(); + scene.radarless_model = scene.frogpilot_toggles.value("radarless_model").toBool(); + scene.random_events = scene.frogpilot_toggles.value("random_events").toBool(); + scene.rainbow_path = scene.frogpilot_toggles.value("rainbow_path").toBool(); + scene.road_edge_width = scene.frogpilot_toggles.value("road_edge_width").toDouble(); + scene.road_name_ui = scene.frogpilot_toggles.value("road_name_ui").toBool(); + scene.rotating_wheel = scene.frogpilot_toggles.value("rotating_wheel").toBool(); + if (scene.screen_brightness == -1) { + scene.screen_brightness = scene.frogpilot_toggles.value("screen_brightness").toDouble(); + } + if (scene.screen_brightness_onroad == -1) { + scene.screen_brightness_onroad = scene.frogpilot_toggles.value("screen_brightness_onroad").toDouble(); + } + scene.screen_recorder = scene.frogpilot_toggles.value("screen_recorder").toBool(); + scene.screen_timeout = scene.frogpilot_toggles.value("screen_timeout").toDouble(); + scene.screen_timeout_onroad = scene.frogpilot_toggles.value("screen_timeout_onroad").toDouble(); + scene.show_blind_spot = scene.frogpilot_toggles.value("blind_spot_metrics").toBool(); + scene.show_fps = scene.frogpilot_toggles.value("show_fps").toBool(); + scene.show_speed_limit_offset = scene.frogpilot_toggles.value("show_speed_limit_offset").toBool(); + scene.show_speed_limits = scene.frogpilot_toggles.value("show_speed_limits").toBool(); + scene.show_stopping_point = scene.frogpilot_toggles.value("show_stopping_point").toBool(); + scene.show_stopping_point_metrics = scene.frogpilot_toggles.value("show_stopping_point_metrics").toBool(); + scene.sidebar_metrics = scene.frogpilot_toggles.value("sidebar_metrics").toBool(); + scene.signal_metrics = scene.frogpilot_toggles.value("signal_metrics").toBool(); + scene.speed_limit_controller = scene.frogpilot_toggles.value("speed_limit_controller").toBool(); + scene.speed_limit_sources = scene.frogpilot_toggles.value("speed_limit_sources").toBool(); + scene.speed_limit_vienna = scene.frogpilot_toggles.value("speed_limit_vienna").toBool(); + scene.standby_mode = scene.frogpilot_toggles.value("standby_mode").toBool(); + scene.static_pedals_on_ui = scene.frogpilot_toggles.value("static_pedals_on_ui").toBool(); + scene.steering_metrics = scene.frogpilot_toggles.value("steering_metrics").toBool(); + scene.stopped_timer = scene.frogpilot_toggles.value("stopped_timer").toBool(); + scene.storage_left_metrics = scene.frogpilot_toggles.value("storage_left_metrics").toBool(); + scene.storage_used_metrics = scene.frogpilot_toggles.value("storage_used_metrics").toBool(); + scene.tethering_config = scene.frogpilot_toggles.value("tethering_config").toDouble(); + scene.unlimited_road_ui_length = scene.frogpilot_toggles.value("unlimited_road_ui_length").toBool(); + scene.use_si_metrics = scene.frogpilot_toggles.value("use_si_metrics").toBool(); + scene.use_wheel_speed = scene.frogpilot_toggles.value("use_wheel_speed").toBool(); + scene.vtsc_enabled = scene.frogpilot_toggles.value("vision_turn_controller").toBool(); + + if (scene.tethering_config == 1) { + s->wifi->setTetheringEnabled(true); + } + + emit s->togglesUpdated(); +} + +void ui_update_theme(UIState *s) { + UIScene &scene = s->scene; + + scene.use_stock_colors = scene.frogpilot_toggles.value("color_scheme").toString() == "stock"; + scene.use_stock_wheel = scene.frogpilot_toggles.value("wheel_image").toString() == "stock"; + + if (!scene.use_stock_colors) { + scene.use_stock_colors |= !loadThemeColors("", true).isValid(); + + scene.lane_lines_color = loadThemeColors("LaneLines"); + scene.lead_marker_color = loadThemeColors("LeadMarker"); + scene.path_color = loadThemeColors("Path"); + scene.path_edges_color = loadThemeColors("PathEdge"); + scene.sidebar_color1 = loadThemeColors("Sidebar1"); + scene.sidebar_color2 = loadThemeColors("Sidebar2"); + scene.sidebar_color3 = loadThemeColors("Sidebar3"); + } + + emit s->themeUpdated(); } void UIState::updateStatus() { if (scene.started && sm->updated("controlsState")) { auto controls_state = (*sm)["controlsState"].getControlsState(); auto state = controls_state.getState(); + auto previous_status = status; if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) { status = STATUS_OVERRIDE; + } else if (scene.always_on_lateral_active) { + status = STATUS_ALWAYS_ON_LATERAL_ACTIVE; + } else if (scene.traffic_mode_active && scene.enabled) { + status = STATUS_TRAFFIC_MODE_ACTIVE; } else { - status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; + status = scene.enabled ? STATUS_ENGAGED : STATUS_DISENGAGED; } + + scene.wake_up_screen = controls_state.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL || status != previous_status; } + scene.started |= scene.force_onroad; + scene.started &= !params_memory.getBool("ForceOffroad"); + // Handle onroad/offroad transition if (scene.started != started_prev || sm->frame == 1) { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; + } else if (scene.started_timer > 15*60*UI_FREQ && scene.model_randomizer) { + emit reviewModel(); } started_prev = scene.started; scene.world_objects_visible = false; emit offroadTransition(!scene.started); + if (scene.tethering_config == 2) { + wifi->setTetheringEnabled(scene.started); + } } } @@ -250,6 +516,8 @@ UIState::UIState(QObject *parent) : QObject(parent) { "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks", + "carControl", "liveTorqueParameters", "frogpilotCarControl", "frogpilotCarState", "frogpilotDeviceState", + "frogpilotNavigation", "frogpilotPlan", }); Params params; @@ -263,6 +531,13 @@ UIState::UIState(QObject *parent) : QObject(parent) { timer = new QTimer(this); QObject::connect(timer, &QTimer::timeout, this, &UIState::update); timer->start(1000 / UI_FREQ); + + // FrogPilot variables + wifi = new WifiManager(this); + + scene.frogpilot_toggles = QJsonDocument::fromJson(QString::fromStdString(params_memory.get("FrogPilotToggles", true)).toUtf8()).object(); + ui_update_params(this); + ui_update_theme(this); } void UIState::update() { @@ -274,6 +549,16 @@ void UIState::update() { watchdog_kick(nanos_since_boot()); } emit uiUpdate(*this); + + // FrogPilot variables + scene.conditional_status = scene.conditional_experimental && scene.enabled ? params_memory.getInt("CEStatus") : 0; + scene.driver_camera_timer = scene.driver_camera_in_reverse && scene.reverse ? scene.driver_camera_timer + 1 : 0; + scene.force_onroad = params_memory.getBool("ForceOnroad"); + scene.started_timer = scene.started || started_prev ? scene.started_timer + 1 : 0; + + if (scene.downloading_update || scene.frogpilot_panel_active) { + device()->resetInteractiveTimeout(scene.screen_timeout, scene.screen_timeout_onroad); + } } void UIState::setPrimeType(PrimeType type) { @@ -312,16 +597,18 @@ void Device::setAwake(bool on) { } } -void Device::resetInteractiveTimeout(int timeout) { +void Device::resetInteractiveTimeout(int timeout, int timeout_onroad) { if (timeout == -1) { timeout = (ignition_on ? 10 : 30); + } else { + timeout = (ignition_on ? timeout_onroad : timeout); } interactive_timeout = timeout * UI_FREQ; } void Device::updateBrightness(const UIState &s) { float clipped_brightness = offroad_brightness; - if (s.scene.started && s.scene.light_sensor > 0) { + if (s.scene.started && s.scene.light_sensor >= 0) { clipped_brightness = s.scene.light_sensor; // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm @@ -338,6 +625,12 @@ void Device::updateBrightness(const UIState &s) { int brightness = brightness_filter.update(clipped_brightness); if (!awake) { brightness = 0; + } else if (s.scene.started && s.scene.standby_mode && !s.scene.wake_up_screen && interactive_timeout == 0) { + brightness = 0; + } else if (s.scene.started && s.scene.screen_brightness_onroad != 101) { + brightness = interactive_timeout > 0 ? fmax(5, s.scene.screen_brightness_onroad) : s.scene.screen_brightness_onroad; + } else if (s.scene.screen_brightness != 101) { + brightness = s.scene.screen_brightness; } if (brightness != last_brightness) { @@ -349,16 +642,30 @@ void Device::updateBrightness(const UIState &s) { } void Device::updateWakefulness(const UIState &s) { - bool ignition_just_turned_off = !s.scene.ignition && ignition_on; + bool ignition_state_changed = s.scene.ignition != ignition_on; ignition_on = s.scene.ignition; - if (ignition_just_turned_off) { - resetInteractiveTimeout(); + if (ignition_on && s.scene.standby_mode) { + if (s.scene.wake_up_screen) { + resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad); + } + } + + if (ignition_state_changed) { + if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) { + resetInteractiveTimeout(0, 0); + } else { + resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad); + } } else if (interactive_timeout > 0 && --interactive_timeout == 0) { emit interactiveTimeout(); } - setAwake(s.scene.ignition || interactive_timeout > 0); + if (s.scene.screen_brightness_onroad != 0) { + setAwake(s.scene.ignition || interactive_timeout > 0); + } else { + setAwake(interactive_timeout > 0); + } } UIState *uiState() { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 7238159dd..90ce8ac50 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -14,8 +15,12 @@ #include "common/mat.h" #include "common/params.h" #include "common/timing.h" +#include "selfdrive/ui/qt/network/wifi_manager.h" +#include "selfdrive/ui/qt/util.h" #include "system/hardware/hw.h" +#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h" + const int UI_BORDER_SIZE = 30; const int UI_HEADER_HEIGHT = 420; @@ -50,6 +55,13 @@ typedef enum UIStatus { STATUS_DISENGAGED, STATUS_OVERRIDE, STATUS_ENGAGED, + + // FrogPilot statuses + STATUS_ALWAYS_ON_LATERAL_ACTIVE, + STATUS_CONDITIONAL_OVERRIDDEN, + STATUS_EXPERIMENTAL_MODE_ACTIVE, + STATUS_NAVIGATION_ACTIVE, + STATUS_TRAFFIC_MODE_ACTIVE, } UIStatus; enum PrimeType { @@ -67,6 +79,13 @@ const QColor bg_colors [] = { [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), + + // FrogPilot colors + [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1), + [STATUS_CONDITIONAL_OVERRIDDEN] = QColor(0xff, 0xff, 0x00, 0xf1), + [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1), + [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1), + [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1), }; @@ -86,7 +105,7 @@ typedef struct UIScene { QPolygonF road_edge_vertices[2]; // lead - QPointF lead_vertices[2]; + QPointF lead_vertices[6]; // DMoji state float driver_pose_vals[3]; @@ -95,12 +114,173 @@ typedef struct UIScene { float driver_pose_coss[3]; vec3 face_kpts_draw[std::size(default_face_kpts_3d)]; + bool navigate_on_openpilot = false; cereal::LongitudinalPersonality personality; float light_sensor = -1; bool started, ignition, is_metric, map_on_left, longitudinal_control; bool world_objects_visible = false; uint64_t started_frame; + + // FrogPilot variables + bool acceleration_path; + bool adjacent_path; + bool adjacent_path_metrics; + bool always_on_lateral; + bool always_on_lateral_active; + bool big_map; + bool blind_spot_left; + bool blind_spot_path; + bool blind_spot_right; + bool brake_lights_on; + bool cem_status; + bool compass; + bool conditional_experimental; + bool cpu_metrics; + bool downloading_update; + bool driver_camera_in_reverse; + bool dynamic_path_width; + bool dynamic_pedals_on_ui; + bool enabled; + bool experimental_mode; + bool experimental_mode_via_tap; + bool fahrenheit; + bool force_onroad; + bool frogpilot_panel_active; + bool frogs_go_moo; + bool full_map; + bool gpu_metrics; + bool hide_alerts; + bool hide_csc_ui; + bool hide_lead_marker; + bool hide_map_icon; + bool hide_max_speed; + bool hide_speed; + bool hide_speed_limit; + bool ip_metrics; + bool jerk_metrics; + bool lateral_tuning_metrics; + bool lead_metrics; + bool left_curve; + bool live_valid; + bool map_open; + bool memory_metrics; + bool model_randomizer; + bool model_ui; + bool mtsc_enabled; + bool no_logging; + bool no_uploads; + bool numerical_temp; + bool online; + bool onroad_distance_button; + bool parked; + bool pedals_on_ui; + bool radarless_model; + bool rainbow_path; + bool random_events; + bool red_light; + bool reverse; + bool road_name_ui; + bool rotating_wheel; + bool screen_recorder; + bool show_blind_spot; + bool show_fps; + bool show_speed_limit_offset; + bool show_speed_limits; + bool show_stopping_point; + bool show_stopping_point_metrics; + bool sidebar_metrics; + bool signal_metrics; + bool speed_limit_changed; + bool speed_limit_controller; + bool speed_limit_overridden; + bool speed_limit_sources; + bool speed_limit_vienna; + bool standby_mode; + bool standstill; + bool static_pedals_on_ui; + bool steering_metrics; + bool stopped_timer; + bool storage_left_metrics; + bool storage_used_metrics; + bool tethering_enabled; + bool traffic_mode; + bool traffic_mode_active; + bool turn_signal_left; + bool turn_signal_right; + bool unlimited_road_ui_length; + bool use_si_metrics; + bool use_stock_colors; + bool use_stock_wheel; + bool use_wheel_speed; + bool vtsc_controlling_curve; + bool vtsc_enabled; + bool wake_up_screen; + + double fps; + + float acceleration; + float acceleration_jerk; + float acceleration_jerk_difference; + float dashboard_speed_limit; + float friction; + float lane_detection_width; + float lane_line_width; + float lane_width_left; + float lane_width_right; + float lat_accel; + float lead_detection_probability; + float mtsc_speed; + float navigation_speed_limit; + float path_edge_width; + float path_width; + float road_edge_width; + float speed_jerk; + float speed_jerk_difference; + float speed_limit; + float speed_limit_map; + float speed_limit_offset; + float speed_limit_overridden_speed; + float steer; + float unconfirmed_speed_limit; + float upcoming_maneuver_distance; + float upcoming_speed_limit; + float vtsc_speed; + + int bearing_deg; + int camera_view; + int conditional_status; + int desired_follow; + int driver_camera_timer; + int map_style; + int minimum_lane_change_speed; + int model_length; + int screen_brightness = -1; + int screen_brightness_onroad = -1; + int screen_timeout; + int screen_timeout_onroad; + int started_timer; + int steering_angle_deg; + int tethering_config; + + std::string speed_limit_source; + + QColor lane_lines_color; + QColor lead_marker_color; + QColor path_color; + QColor path_edges_color; + QColor sidebar_color1; + QColor sidebar_color2; + QColor sidebar_color3; + + QJsonObject frogpilot_toggles; + + QPolygonF track_adjacent_vertices[6]; + QPolygonF track_edge_vertices; + + QString model; + QString model_name; + } UIScene; class UIState : public QObject { @@ -128,12 +308,23 @@ public: QTransform car_space_transform; + // FrogPilot variables + Params params_memory{"/dev/shm/params"}; + + WifiManager *wifi = nullptr; + signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); void primeChanged(bool prime); void primeTypeChanged(PrimeType prime_type); + // FrogPilot signals + void driveRated(); + void reviewModel(); + void themeUpdated(); + void togglesUpdated(); + private slots: void update(); @@ -175,7 +366,7 @@ signals: void interactiveTimeout(); public slots: - void resetInteractiveTimeout(int timeout = -1); + void resetInteractiveTimeout(int timeout = -1, int timeout_onroad = -1); void update(const UIState &s); }; @@ -190,3 +381,7 @@ void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &drivers void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); + +// FrogPilot functions +void ui_update_frogpilot_params(UIState *s); +void ui_update_theme(UIState *s); diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 0fe0f05ac..999ffce71 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -6,6 +6,7 @@ import os from openpilot.common.basedir import BASEDIR UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") +FROG_UI_DIR = os.path.join(BASEDIR, "selfdrive", "frogpilot", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") @@ -33,7 +34,7 @@ def update_translations(vanish: bool = False, translation_files: None | list[str for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" + args = f"lupdate -locations none -recursive {UI_DIR} {FROG_UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" if file in PLURAL_ONLY: diff --git a/system/athena/registration.py b/system/athena/registration.py old mode 100755 new mode 100644 index 6574d9ac2..87a31ed3f --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -2,6 +2,9 @@ import time import json import jwt +import os +import random +import string from pathlib import Path from datetime import datetime, timedelta @@ -73,7 +76,7 @@ def register(show_spinner=False) -> str | None: if resp.status_code in (402, 403): cloudlog.info(f"Unable to register device, got {resp.status_code}") - dongle_id = UNREGISTERED_DONGLE_ID + dongle_id = ''.join(random.choices(string.ascii_lowercase + string.digits, k=16)) else: dongleauth = json.loads(resp.text) dongle_id = dongleauth["dongle_id"] diff --git a/system/fleetmanager/static/frog.png b/system/fleetmanager/static/frog.png new file mode 100644 index 000000000..d7fcc8a87 --- /dev/null +++ b/system/fleetmanager/static/frog.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76a780657d874ef7d9464ae576c45392128a38bed4f963305be6ba2c12d04699 +size 108573 diff --git a/system/fleetmanager/templates/index.html b/system/fleetmanager/templates/index.html new file mode 100644 index 000000000..400df47e5 --- /dev/null +++ b/system/fleetmanager/templates/index.html @@ -0,0 +1,16 @@ +{% extends "layout.html" %} + +{% block title %} + Home +{% endblock %} + +{% block main %} +
+

Fleet Manager

+
+ View Dashcam Footage
+
View Screen Recordings
+
Access Error Logs
+
Navigation
+
Tools
+{% endblock %} diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index e3a4c8171..60fd93226 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -18,13 +18,15 @@ from openpilot.common.params import Params from openpilot.common.realtime import DT_HW from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import HARDWARE, TICI, AGNOS -from openpilot.system.loggerd.config import get_available_percent +from openpilot.system.loggerd.config import get_available_bytes, get_available_percent, get_used_bytes from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog from openpilot.system.hardware.power_monitoring import PowerMonitoring from openpilot.system.hardware.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params_memory + ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength @@ -163,8 +165,8 @@ def hw_state_thread(end_event, hw_queue): def hardware_thread(end_event, hw_queue) -> None: - pm = messaging.PubMaster(['deviceState']) - sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates") + pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState']) + sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates", "frogpilotPlan"], poll="pandaStates") count = 0 @@ -204,6 +206,9 @@ def hardware_thread(end_event, hw_queue) -> None: fan_controller = None + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + while not end_event.is_set(): sm.update(PANDA_STATES_TIMEOUT) @@ -278,6 +283,9 @@ def hardware_thread(end_event, hw_queue) -> None: if fan_controller is not None: msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) + if frogpilot_toggles.increase_thermal_limits: + all_comp_temp -= (THERMAL_BANDS[ThermalStatus.danger].min_temp - THERMAL_BANDS[ThermalStatus.red].min_temp) + is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5)) if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: # if device is offroad and already hot without the extra onroad load, @@ -293,7 +301,7 @@ def hardware_thread(end_event, hw_queue) -> None: # **** starting logic **** - startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") + startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") or frogpilot_toggles.offline_mode startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version @@ -336,6 +344,10 @@ def hardware_thread(end_event, hw_queue) -> None: if started_ts is None: should_start = should_start and all(startup_conditions.values()) + # Handle force offroad/onroad + should_start |= params_memory.get_bool("ForceOnroad") + should_start &= not params_memory.get_bool("ForceOffroad") + if should_start != should_start_prev or (count == 0): params.put_bool("IsEngaged", False) engaged_prev = False @@ -387,7 +399,7 @@ def hardware_thread(end_event, hw_queue) -> None: msg.deviceState.somPowerDrawW = som_power_draw # Check if we need to shut down - if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen): + if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen, frogpilot_toggles): cloudlog.warning(f"shutting device down, offroad since {off_ts}") params.put_bool("DoShutdown", True) @@ -401,6 +413,13 @@ def hardware_thread(end_event, hw_queue) -> None: msg.deviceState.thermalStatus = thermal_status pm.send("deviceState", msg) + fpmsg = messaging.new_message('frogpilotDeviceState') + + fpmsg.frogpilotDeviceState.freeSpace = round(get_available_bytes(default=32.0 * (2 ** 30)) / (2 ** 30)) + fpmsg.frogpilotDeviceState.usedSpace = round(get_used_bytes(default=0.0 * (2 ** 30)) / (2 ** 30)) + + pm.send("frogpilotDeviceState", fpmsg) + # Log to statsd statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent) statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent) @@ -445,6 +464,9 @@ def hardware_thread(end_event, hw_queue) -> None: count += 1 should_start_prev = should_start + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() def main(): hw_queue = queue.Queue(maxsize=1) diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py index 5a94625b4..dbe1c8fd0 100644 --- a/system/hardware/power_monitoring.py +++ b/system/hardware/power_monitoring.py @@ -107,16 +107,16 @@ class PowerMonitoring: return int(self.car_battery_capacity_uWh) # See if we need to shutdown - def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool): + def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool, frogpilot_toggles): if offroad_timestamp is None: return False now = time.monotonic() should_shutdown = False offroad_time = (now - offroad_timestamp) - low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and + low_voltage_shutdown = (self.car_voltage_mV < (max(frogpilot_toggles.low_voltage_shutdown, VBATT_PAUSE_CHARGING) * 1e3) and offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S) - should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S + should_shutdown |= offroad_time > frogpilot_toggles.device_shutdown_time should_shutdown |= low_voltage_shutdown should_shutdown |= (self.car_battery_capacity_uWh <= 0) should_shutdown &= not ignition diff --git a/system/loggerd/config.py b/system/loggerd/config.py index 5c2c89b73..03abe216c 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -27,3 +27,14 @@ def get_available_bytes(default=None): available_bytes = default return available_bytes + +def get_used_bytes(default=None): + try: + statvfs = os.statvfs(Paths.log_root()) + total_bytes = statvfs.f_blocks * statvfs.f_frsize + available_bytes = get_available_bytes(default) + used_bytes = total_bytes - available_bytes + except OSError: + used_bytes = default + + return used_bytes diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 832a22779..ea53c3327 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -21,11 +21,17 @@ from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles + NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' UPLOAD_ATTR_VALUE = b'1' -UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB +MAX_UPLOAD_SIZES = { + "qlog": 25*1e6, # can't be too restrictive here since we use qlogs to find + # bugs, including ones that can cause massive log sizes + "qcam": 5*1e6, +} allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -172,7 +178,7 @@ class Uploader: if sz == 0: # tag files of 0 size as uploaded success = True - elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE: + elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]: cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz) success = True else: @@ -242,15 +248,20 @@ def main(exit_event: threading.Event = None) -> None: cloudlog.info("uploader missing dongle_id") raise Exception("uploader can't start without dongle id") - sm = messaging.SubMaster(['deviceState']) + sm = messaging.SubMaster(['deviceState', 'frogpilotPlan']) uploader = Uploader(dongle_id, Paths.log_root()) backoff = 0.1 + + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + while not exit_event.is_set(): sm.update(0) offroad = params.get_bool("IsOffroad") network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi - if network_type == NetworkType.none: + at_home = not frogpilot_toggles.no_onroad_uploads or offroad and network_type in {NetworkType.ethernet, NetworkType.wifi} + if network_type == NetworkType.none or not at_home: if allow_sleep: time.sleep(60 if offroad else 5) continue @@ -266,6 +277,9 @@ def main(exit_event: threading.Event = None) -> None: if allow_sleep: time.sleep(backoff + random.uniform(0, backoff)) + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() if __name__ == "__main__": main() diff --git a/system/manager/manager.py b/system/manager/manager.py index 6d1b8d9c2..e0597d45b 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -18,6 +18,8 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import get_build_metadata, terms_version, training_version +from openpilot.selfdrive.frogpilot.frogpilot_functions import convert_params, frogpilot_boot_functions, setup_frogpilot, uninstall_frogpilot +from openpilot.selfdrive.frogpilot.frogpilot_variables import frogpilot_default_params, get_frogpilot_toggles, params_memory def manager_init() -> None: @@ -32,13 +34,35 @@ def manager_init() -> None: if build_metadata.release_channel: params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) + # FrogPilot variables + setup_frogpilot(build_metadata) + params_storage = Params("/persist/params") + convert_params(params_storage) + default_params: list[tuple[str, str | bytes]] = [ + ("AlwaysOnDM", "0"), + ("CarParamsPersistent", ""), ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "0"), + ("ExperimentalLongitudinalEnabled", "0"), + ("ExperimentalMode", "0"), + ("ExperimentalModeConfirmed", "0"), + ("GithubSshKeys", ""), + ("GithubUsername", ""), + ("GsmApn", ""), ("GsmMetered", "1"), + ("GsmRoaming", "1"), ("HasAcceptedTerms", "0"), + ("IsLdwEnabled", "0"), + ("IsMetric", "0"), ("LanguageSetting", "main_en"), + ("NavSettingLeftSide", "0"), + ("NavSettingTime24h", "0"), ("OpenpilotEnabledToggle", "1"), + ("RecordFront", "0"), + ("SshEnabled", "0"), + ("TetheringEnabled", "0"), + ("UpdaterAvailableBranches", ""), ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), ] if not PC: @@ -48,9 +72,18 @@ def manager_init() -> None: params.put_bool("RecordFront", True) # set unset params - for k, v in default_params: - if params.get(k) is None: - params.put(k, v) + reset_toggles = params.get_bool("DoToggleReset") + for k, v in default_params + [(k, v) for k, v, _ in frogpilot_default_params]: + if params.get(k) is None or reset_toggles: + if params_storage.get(k) is None or reset_toggles: + params.put(k, v) + params_storage.remove(k) + else: + params.put(k, params_storage.get(k)) + else: + params_storage.put(k, params.get(k)) + params.remove("DoToggleReset") + frogpilot_boot_functions(build_metadata, params_storage) # Create folders needed for msgq try: @@ -127,14 +160,19 @@ def manager_thread() -> None: ignore.append("pandad") ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] - sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState') + sm = messaging.SubMaster(['deviceState', 'carParams', 'frogpilotPlan'], poll='deviceState') pm = messaging.PubMaster(['managerState']) write_onroad_params(False, params) - ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) + ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, classic_model=False, frogpilot_toggles=get_frogpilot_toggles()) started_prev = False + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + + classic_model = frogpilot_toggles.classic_model + while True: sm.update(1000) @@ -142,8 +180,13 @@ def manager_thread() -> None: if started and not started_prev: params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) + + # FrogPilot variables + classic_model = frogpilot_toggles.classic_model + elif not started and started_prev: params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + params_memory.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) # update onroad params, which drives pandad's safety setter thread if started != started_prev: @@ -151,7 +194,7 @@ def manager_thread() -> None: started_prev = started - ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) + ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, classic_model=classic_model, frogpilot_toggles=frogpilot_toggles) running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name) for p in managed_processes.values() if p.proc) @@ -174,6 +217,9 @@ def manager_thread() -> None: if shutdown: break + # Update FrogPilot parameters + if sm['frogpilotPlan'].togglesUpdated: + frogpilot_toggles = get_frogpilot_toggles() def main() -> None: manager_init() @@ -194,7 +240,7 @@ def main() -> None: params = Params() if params.get_bool("DoUninstall"): cloudlog.warning("uninstalling") - HARDWARE.uninstall() + uninstall_frogpilot() elif params.get_bool("DoReboot"): cloudlog.warning("reboot") HARDWARE.reboot() diff --git a/system/manager/process.py b/system/manager/process.py index 36f299ae6..be7f564e8 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -238,7 +238,7 @@ class DaemonProcess(ManagerProcess): self.params = None @staticmethod - def should_run(started, params, CP): + def should_run(started, params, CP, classic_model, frogpilot_toggles): return True def prepare(self) -> None: @@ -274,13 +274,13 @@ class DaemonProcess(ManagerProcess): def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, - not_run: list[str] | None=None) -> list[ManagerProcess]: + not_run: list[str] | None=None, classic_model=False, frogpilot_toggles=None) -> list[ManagerProcess]: if not_run is None: not_run = [] running = [] for p in procs: - if p.enabled and p.name not in not_run and p.should_run(started, params, CP): + if p.enabled and p.name not in not_run and p.should_run(started, params, CP, classic_model, frogpilot_toggles): running.append(p) else: p.stop(block=False) diff --git a/system/manager/process_config.py b/system/manager/process_config.py index ced31077c..c5061a889 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -7,55 +7,70 @@ from openpilot.system.manager.process import PythonProcess, NativeProcess, Daemo WEBCAM = os.getenv("USE_WEBCAM") is not None -def driverview(started: bool, params: Params, CP: car.CarParams) -> bool: +def driverview(started: bool, params: Params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return started or params.get_bool("IsDriverViewEnabled") -def notcar(started: bool, params: Params, CP: car.CarParams) -> bool: +def notcar(started: bool, params: Params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return started and CP.notCar -def iscar(started: bool, params: Params, CP: car.CarParams) -> bool: +def iscar(started: bool, params: Params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return started and not CP.notCar -def logging(started, params, CP: car.CarParams) -> bool: +def logging(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run def ublox_available() -> bool: return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') -def ublox(started, params, CP: car.CarParams) -> bool: +def ublox(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: use_ublox = ublox_available() if use_ublox != params.get_bool("UbloxAvailable"): params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox -def qcomgps(started, params, CP: car.CarParams) -> bool: +def qcomgps(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return started and not ublox_available() -def always_run(started, params, CP: car.CarParams) -> bool: +def always_run(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return True -def only_onroad(started: bool, params, CP: car.CarParams) -> bool: +def only_onroad(started: bool, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return started -def only_offroad(started, params, CP: car.CarParams) -> bool: +def only_offroad(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: return not started +# FrogPilot functions +def allow_logging(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: + return not frogpilot_toggles.no_logging and logging(started, params, CP, classic_model, frogpilot_toggles) + +def allow_uploads(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: + return not frogpilot_toggles.no_uploads + +def run_classic_modeld(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: + return started and classic_model + +def run_new_modeld(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool: + return started and not classic_model + procs = [ DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"), NativeProcess("camerad", "system/camerad", ["./camerad"], driverview), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad), - PythonProcess("logmessaged", "system.logmessaged", always_run), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging), + PythonProcess("logmessaged", "system.logmessaged", allow_logging), PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), - NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging), NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), - NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging), - NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging), + NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], run_new_modeld), + NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], run_classic_modeld), + PythonProcess("navmodeld", "selfdrive.classic_modeld.navmodeld", run_classic_modeld), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad), @@ -69,7 +84,7 @@ procs = [ PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI), - PythonProcess("navd", "selfdrive.navd.navd", only_onroad), + PythonProcess("navd", "selfdrive.navd.navd", run_classic_modeld), PythonProcess("pandad", "selfdrive.pandad.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI), @@ -78,14 +93,20 @@ procs = [ PythonProcess("radard", "selfdrive.controls.radard", only_onroad), PythonProcess("hardwared", "system.hardware.hardwared", always_run), PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC), - PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC), - PythonProcess("uploader", "system.loggerd.uploader", always_run), - PythonProcess("statsd", "system.statsd", always_run), + PythonProcess("updated", "system.updated.updated", always_run, enabled=not PC), + PythonProcess("uploader", "system.loggerd.uploader", allow_uploads), + PythonProcess("statsd", "system.statsd", allow_logging), # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar), PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar), PythonProcess("webjoystick", "tools.bodyteleop.web", notcar), + + # FrogPilot processes + NativeProcess("classic_modeld", "selfdrive/classic_modeld", ["./classic_modeld"], run_classic_modeld), + PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run), + PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run), + PythonProcess("mapd", "selfdrive.frogpilot.navigation.mapd", always_run), ] managed_processes = {p.name: p for p in procs} diff --git a/system/sentry.py b/system/sentry.py index 5f4772fa7..902339a9d 100644 --- a/system/sentry.py +++ b/system/sentry.py @@ -1,20 +1,24 @@ """Install exception handler for process crash.""" import sentry_sdk +import traceback +from datetime import datetime from enum import Enum +from pathlib import Path from sentry_sdk.integrations.threading import ThreadingIntegration -from openpilot.common.params import Params +from openpilot.common.params import Params, ParamKeyType from openpilot.system.athena.registration import is_registered_device from openpilot.system.hardware import HARDWARE, PC from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata, get_version +CRASHES_DIR = Path("/data/crashes") class SentryProject(Enum): # python project - SELFDRIVE = "https://6f3c7076c1e14b2aa10f5dde6dda0cc4@o33823.ingest.sentry.io/77924" + SELFDRIVE = "https://5ad1714d27324c74a30f9c538bff3b8d@o4505034923769856.ingest.us.sentry.io/4505034930651136" # native project - SELFDRIVE_NATIVE = "https://3e4b586ed21a4479ad5d85083b639bc6@o33823.ingest.sentry.io/157615" + SELFDRIVE_NATIVE = "https://5ad1714d27324c74a30f9c538bff3b8d@o4505034923769856.ingest.us.sentry.io/4505034930651136" def report_tombstone(fn: str, message: str, contents: str) -> None: @@ -28,7 +32,18 @@ def report_tombstone(fn: str, message: str, contents: str) -> None: def capture_exception(*args, **kwargs) -> None: - cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1)) + exc_text = traceback.format_exc() + + phrases_to_check = [ + "already exists. To overwrite it, set 'overwrite' to True", + "setup_quectel failed after retry", + ] + + if any(phrase in exc_text for phrase in phrases_to_check): + return + + save_exception(exc_text) + cloudlog.error("crash", exc_info=kwargs.get("exc_info", 1)) try: sentry_sdk.capture_exception(*args, **kwargs) @@ -37,19 +52,121 @@ def capture_exception(*args, **kwargs) -> None: cloudlog.exception("sentry exception") +def capture_fingerprint(frogpilot_toggles, params, params_tracking): + if frogpilot_toggles.block_user: + sentry_sdk.capture_message("Blocked user from using the development branch", level="warning") + sentry_sdk.flush() + return + else: + sentry_sdk.capture_message(f"User driving a: {frogpilot_toggles.car_model}", level="info") + sentry_sdk.flush() + + if params.get_bool("FingerprintLogged"): + return + + param_types = { + "FrogPilot Controls": ParamKeyType.FROGPILOT_CONTROLS, + "FrogPilot Vehicles": ParamKeyType.FROGPILOT_VEHICLES, + "FrogPilot Visuals": ParamKeyType.FROGPILOT_VISUALS, + "FrogPilot Other": ParamKeyType.FROGPILOT_OTHER, + "FrogPilot Tracking": ParamKeyType.FROGPILOT_TRACKING, + } + + matched_params = {label: {} for label in param_types} + for key in params.all_keys(): + for label, key_type in param_types.items(): + if params.get_key_type(key) & key_type: + if key_type == ParamKeyType.FROGPILOT_TRACKING: + value = f"{params_tracking.get_int(key):,}" + else: + if isinstance(params.get(key), bytes): + value = params.get(key, encoding="utf-8") + else: + value = params.get(key) or "0" + + if isinstance(value, str) and "." in value: + value = value.rstrip("0").rstrip(".") + matched_params[label][key.decode("utf-8")] = value + + with sentry_sdk.push_scope() as scope: + for label, key_values in matched_params.items(): + scope.set_context(label, key_values) + + fingerprint = [params.get("DongleId", encoding="utf-8"), frogpilot_toggles.car_model] + scope.fingerprint = fingerprint + sentry_sdk.capture_message(f"Logged user: {fingerprint}", level="info") + sentry_sdk.flush() + + params.put_bool("FingerprintLogged", True) + + +def capture_model(model_name): + sentry_sdk.capture_message(f"User using: {model_name}", level="info") + sentry_sdk.flush() + + +def capture_report(discord_user, report, frogpilot_toggles): + error_file_path = CRASHES_DIR / "error.txt" + error_content = "No error log found." + + if error_file_path.exists(): + error_content = error_file_path.read_text() + + with sentry_sdk.push_scope() as scope: + scope.set_context("Error Log", {"content": error_content}) + scope.set_context("Toggle Values", frogpilot_toggles) + sentry_sdk.capture_message(f"{discord_user} submitted report: {report}", level="fatal") + sentry_sdk.flush() + + +def capture_user(channel): + sentry_sdk.capture_message(f"Logged user on: {channel}", level="info") + sentry_sdk.flush() + + def set_tag(key: str, value: str) -> None: sentry_sdk.set_tag(key, value) +def save_exception(exc_text: str) -> None: + CRASHES_DIR.mkdir(parents=True, exist_ok=True) + + files = [ + CRASHES_DIR / datetime.now().strftime("%Y-%m-%d--%H-%M-%S.log"), + CRASHES_DIR / "error.txt" + ] + + for file_path in files: + if file_path.name == "error.txt": + lines = exc_text.splitlines()[-10:] + file_path.write_text("\n".join(lines)) + else: + file_path.write_text(exc_text) + + print(f"Logged current crash to {[str(file) for file in files]}") + + def init(project: SentryProject) -> bool: build_metadata = get_build_metadata() - # forks like to mess with this, so double check - comma_remote = build_metadata.openpilot.comma_remote and "commaai" in build_metadata.openpilot.git_origin - if not comma_remote or not is_registered_device() or PC: + FrogPilot = "frogai" in build_metadata.openpilot.git_origin.lower() + if not FrogPilot or PC: return False - env = "release" if build_metadata.tested_channel else "master" - dongle_id = Params().get("DongleId", encoding='utf-8') + short_branch = build_metadata.channel + + if short_branch == "FrogPilot-Development": + env = "Development" + elif build_metadata.release_channel: + env = "Release" + elif build_metadata.tested_channel: + env = "Staging" + else: + env = short_branch + + params = Params() + dongle_id = params.get("DongleId", encoding="utf-8") + installed = params.get("InstallDate", encoding="utf-8") + updated = params.get("Updated", encoding="utf-8") integrations = [] if project == SentryProject.SELFDRIVE: @@ -63,14 +180,12 @@ def init(project: SentryProject) -> bool: max_value_length=8192, environment=env) - build_metadata = get_build_metadata() - sentry_sdk.set_user({"id": dongle_id}) - sentry_sdk.set_tag("dirty", build_metadata.openpilot.is_dirty) sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin) - sentry_sdk.set_tag("branch", build_metadata.channel) + sentry_sdk.set_tag("branch", short_branch) sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit) - sentry_sdk.set_tag("device", HARDWARE.get_device_type()) + sentry_sdk.set_tag("updated", updated) + sentry_sdk.set_tag("installed", installed) if project == SentryProject.SELFDRIVE: sentry_sdk.Hub.current.start_session() diff --git a/system/updated/updated.py b/system/updated/updated.py old mode 100755 new mode 100644 index d43f439af..fb9928d9c --- a/system/updated/updated.py +++ b/system/updated/updated.py @@ -11,6 +11,7 @@ import time import threading from collections import defaultdict from pathlib import Path +from zoneinfo import ZoneInfo from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params @@ -21,6 +22,8 @@ from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert from openpilot.system.hardware import AGNOS, HARDWARE from openpilot.system.version import get_build_metadata +from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params_memory + LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") @@ -271,7 +274,7 @@ class Updater: def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: return run(["git", "rev-parse", "HEAD"], path).rstrip() - def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None: + def set_params(self, update_success: bool, failed_count: int, exception: str | None, frogpilot_toggles: None) -> None: self.params.put("UpdateFailedCount", str(failed_count)) self.params.put("UpdaterTargetBranch", self.target_branch) @@ -307,7 +310,7 @@ class Updater: with open(os.path.join(basedir, "common", "version.h")) as f: version = f.read().split('"')[1] - commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip() + commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).split()[0] dt = datetime.datetime.fromtimestamp(int(commit_unix_ts)) commit_date = dt.strftime("%b %d") except Exception: @@ -324,6 +327,8 @@ class Updater: set_offroad_alert(alert, False) now = datetime.datetime.utcnow() + if frogpilot_toggles.offline_mode: + last_update = now dt = now - last_update build_metadata = get_build_metadata() if failed_count > 15 and exception is not None and self.has_internet: @@ -405,14 +410,12 @@ class Updater: finalize_update() cloudlog.info("finalize success!") + # Format "Updated" to Phoenix time zone + self.params.put("Updated", datetime.datetime.now().astimezone(ZoneInfo('America/Phoenix')).strftime("%B %d, %Y - %I:%M%p").encode('utf8')) def main() -> None: params = Params() - if params.get_bool("DisableUpdates"): - cloudlog.warning("updates are disabled by the DisableUpdates param") - exit(0) - with open(LOCK_FILE, 'w') as ov_lock_fd: try: fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB) @@ -428,10 +431,6 @@ def main() -> None: if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir(): cloudlog.event("update installed") - if not params.get("InstallDate"): - t = datetime.datetime.utcnow().isoformat() - params.put("InstallDate", t.encode('utf8')) - updater = Updater() update_failed_count = 0 # TODO: Load from param? wait_helper = WaitTimeHelper() @@ -444,6 +443,12 @@ def main() -> None: # Run the update loop first_run = True + + # FrogPilot variables + frogpilot_toggles = get_frogpilot_toggles() + + install_date_set = params.get("InstallDate", encoding='utf-8') is not None and params.get("Updated", encoding='utf-8') is not None + while True: wait_helper.ready_event.clear() @@ -454,18 +459,28 @@ def main() -> None: init_overlay() # ensure we have some params written soon after startup - updater.set_params(False, update_failed_count, exception) + updater.set_params(False, update_failed_count, exception, frogpilot_toggles) if not system_time_valid() or first_run: first_run = False wait_helper.sleep(60) continue + # Format "InstallDate" to Phoenix time zone + if not install_date_set: + params.put("InstallDate", datetime.datetime.now().astimezone(ZoneInfo('America/Phoenix')).strftime("%B %d, %Y - %I:%M%p").encode('utf8')) + install_date_set = True + + if not (frogpilot_toggles.automatic_updates or params_memory.get_bool("ManualUpdateInitiated")): + wait_helper.sleep(60*60*24*365*100) + continue + update_failed_count += 1 # check for update params.put("UpdaterState", "checking...") updater.check_for_update() + params_memory.remove("ManualUpdateInitiated") # download update last_fetch = read_time_from_param(params, "UpdaterLastFetchTime") @@ -496,7 +511,7 @@ def main() -> None: try: params.put("UpdaterState", "idle") update_successful = (update_failed_count == 0) - updater.set_params(update_successful, update_failed_count, exception) + updater.set_params(update_successful, update_failed_count, exception, frogpilot_toggles) except Exception: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") diff --git a/system/version.py b/system/version.py index 94964526b..167ab1255 100755 --- a/system/version.py +++ b/system/version.py @@ -10,8 +10,8 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.swaglog import cloudlog from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date -RELEASE_BRANCHES = ['release3-staging', 'release3', 'nightly'] -TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] +RELEASE_BRANCHES = ['FrogPilot', 'FrogPilot-New'] +TESTED_BRANCHES = RELEASE_BRANCHES + ['FrogPilot-Staging', 'FrogPilot-Testing'] BUILD_METADATA_FILENAME = "build.json"