openpilot v0.4.3.2 release

old-commit-hash: 78df63a6af

cereal/Makefile

@@ -1,14 +1,14 @@
 PWD := $(shell pwd)
 
-SRCS := log.capnp car.capnp map.capnp
+SRCS := log.capnp car.capnp mapd.capnp
 
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/mapd.capnp.c++
 
 UNAME_M ?= $(shell uname -m)
 
 # only generate C++ for docker tests
 ifneq ($(OPTEST),1)
-	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/mapd.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
 
 # Dont build java on the phone...
 ifeq ($(UNAME_M),x86_64)

cereal/__init__.py

@@ -4,17 +4,6 @@ import capnp
 CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-if os.getenv("NEWCAPNP"):
-  import tempfile
-  import pyximport
-
-  importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
-  try:
-    import cereal.gen.cython.log_capnp_cython as log
-    import cereal.gen.cython.car_capnp_cython as car
-  finally:
-    pyximport.uninstall(*importers)
-    del importers
-else:
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+mapd = capnp.load(os.path.join(CEREAL_PATH, "mapd.capnp"))

cereal/log.capnp

@@ -1487,6 +1487,11 @@ struct OrbFeatures {
   ys @2 :List(Float32);
   descriptors @3 :Data;
   octaves @4 :List(Int8);
+
+  # match index to last OrbFeatures
+  # -1 if no match
+  timestampLastEof @5 :UInt64;
+  matches @6: List(Int16);
 }
 
 struct OrbKeyFrame {

cereal/mapd.capnp

@@ -0,0 +1,18 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Log");
+
+using Log = import "log.capnp";
+
+@0xe1a6ab330ea7205f;
+
+struct MapdRequest {
+  pos @0 :Log.ECEFPoint;
+}
+
+struct MapdResponse {
+  kfs @0 :List(Log.OrbKeyFrame);
+}