openpilot v0.2.4 release

selfdrive/common/cereal.mk

@@ -0,0 +1,17 @@
+CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include
+CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/include
+CEREAL_LIBS = -L$(PHONELIBS)/capnp-cpp/aarch64/lib/ \
+              -L$(PHONELIBS)/capnp-c/aarch64/lib/ \
+              -l:libcapn.a -l:libcapnp.a -l:libkj.a
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
+
+log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+
+car.capnp.o: ../../cereal/gen/cpp/car.capnp.c++
+	@echo "[ CXX ] $@"
+	$(CXX) $(CXXFLAGS) $(CEREAL_CFLAGS) \
+           -c -o '$@' '$<'
+  

selfdrive/common/framebuffer.cc

@@ -53,6 +53,7 @@ extern "C" FramebufferState* framebuffer_init(
   assert(status == 0);
 
   int orientation = 3; // rotate framebuffer 270 degrees
+  //int orientation = 1; // rotate framebuffer 90 degrees
   if(orientation == 1 || orientation == 3) {
       int temp = s->dinfo.h;
       s->dinfo.h = s->dinfo.w;

selfdrive/common/glutil.c

@@ -0,0 +1,71 @@
+#include <stdlib.h>
+#include <stdio.h>
+
+#include <GLES3/gl3.h>
+
+#include "glutil.h"
+
+GLuint load_shader(GLenum shaderType, const char *src) {
+  GLint status = 0, len = 0;
+  GLuint shader;
+
+  if (!(shader = glCreateShader(shaderType)))
+    return 0;
+
+  glShaderSource(shader, 1, &src, NULL);
+  glCompileShader(shader);
+  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
+
+  if (status)
+    return shader;
+
+  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *msg = (char*)malloc(len);
+    if (msg) {
+      glGetShaderInfoLog(shader, len, NULL, msg);
+      msg[len-1] = 0;
+      fprintf(stderr, "error compiling shader:\n%s\n", msg);
+      free(msg);
+    }
+  }
+  glDeleteShader(shader);
+  return 0;
+}
+
+GLuint load_program(const char *vert_src, const char *frag_src) {
+  GLuint vert, frag, prog;
+  GLint status = 0, len = 0;
+
+  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
+    return 0;
+  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
+    goto fail_frag;
+  if (!(prog = glCreateProgram()))
+    goto fail_prog;
+
+  glAttachShader(prog, vert);
+  glAttachShader(prog, frag);
+  glLinkProgram(prog);
+
+  glGetProgramiv(prog, GL_LINK_STATUS, &status);
+  if (status)
+    return prog;
+
+  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
+  if (len) {
+    char *buf = (char*) malloc(len);
+    if (buf) {
+      glGetProgramInfoLog(prog, len, NULL, buf);
+      buf[len-1] = 0;
+      fprintf(stderr, "error linking program:\n%s\n", buf);
+      free(buf);
+    }
+  }
+  glDeleteProgram(prog);
+fail_prog:
+  glDeleteShader(frag);
+fail_frag:
+  glDeleteShader(vert);
+  return 0;
+}

selfdrive/common/glutil.h

@@ -0,0 +1,8 @@
+#ifndef COMMON_GLUTIL_H
+#define COMMON_GLUTIL_H
+
+#include <GLES3/gl3.h>
+GLuint load_shader(GLenum shaderType, const char *src);
+GLuint load_program(const char *vert_src, const char *frag_src);
+
+#endif

selfdrive/common/swaglog.c

@@ -19,6 +19,7 @@ typedef struct LogState {
   JsonNode *ctx_j;
   void *zctx;
   void *sock;
+  int print_level;
 } LogState;
 
 static LogState s = {
@@ -31,6 +32,19 @@ static void cloudlog_init() {
   s.zctx = zmq_ctx_new();
   s.sock = zmq_socket(s.zctx, ZMQ_PUSH);
   zmq_connect(s.sock, "ipc:///tmp/logmessage");
+
+  s.print_level = CLOUDLOG_WARNING;
+  const char* print_level = getenv("LOGPRINT");
+  if (print_level) {
+    if (strcmp(print_level, "debug") == 0) {
+      s.print_level = CLOUDLOG_DEBUG;
+    } else if (strcmp(print_level, "info") == 0) {
+      s.print_level = CLOUDLOG_INFO;
+    } else if (strcmp(print_level, "warning") == 0) {
+      s.print_level = CLOUDLOG_WARNING;
+    }
+  }
+
   s.inited = true;
 }
 
@@ -50,7 +64,7 @@ void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func
     return;
   }
 
-  if (levelnum >= CLOUDLOG_PRINT_LEVEL) {
+  if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg_buf);
   }
 

selfdrive/common/swaglog.h

@@ -7,13 +7,19 @@
 #define CLOUDLOG_ERROR 40
 #define CLOUDLOG_CRITICAL 50
 
-#define CLOUDLOG_PRINT_LEVEL CLOUDLOG_WARNING
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, const char* srctime, 
                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
 
 void cloudlog_bind(const char* k, const char* v);
 
+#ifdef __cplusplus
+}
+#endif
+
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, __DATE__ " " __TIME__, \
                                            fmt, ## __VA_ARGS__)

selfdrive/common/version.h

@@ -1 +1 @@
-const char *openpilot_version = "0.2.3";
+const char *openpilot_version = "0.2.4";