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12 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Vehicle Researcher
|
22a4193109 | ||
|
Adeeb Shihadeh
|
29d9e1ce69 | ||
|
Vehicle Researcher
|
0b384ea101 | ||
|
Adeeb Shihadeh
|
8369e11417 | ||
|
Vehicle Researcher
|
26bccbdcc8 | ||
|
Adeeb Shihadeh
|
db336329c5 | ||
|
Adeeb Shihadeh
|
7a7f343978 | ||
|
Vehicle Researcher
|
49d82d6ac1 | ||
|
Vehicle Researcher
|
0aa4867be4 | ||
|
Adeeb Shihadeh
|
f370bf5ba6 | ||
|
Adeeb Shihadeh
|
d6074e554d | ||
|
Vehicle Researcher
|
b205dd6954 |
@@ -1,25 +0,0 @@
|
||||
---
|
||||
name: Bug report
|
||||
about: Create a report to help us improve openpilot
|
||||
title: ''
|
||||
labels: 'bug'
|
||||
assignees: ''
|
||||
|
||||
---
|
||||
|
||||
**Describe the bug**
|
||||
A clear and concise description of what the bug is.
|
||||
|
||||
**How to reproduce or log data**
|
||||
Steps to reproduce the behavior, or a explorer/cabana link to the exact drive and timestamp of when the bug occurred.
|
||||
|
||||
**Expected behavior**
|
||||
A clear and concise description of what you expected to happen.
|
||||
|
||||
**Device/Version information (please complete the following information):**
|
||||
- Device: [e.g. EON/EON Gold]
|
||||
- Version: [e.g. 0.6.4], or commit hash when on devel
|
||||
- Car make/model [e.g. Toyota Prius 2016]
|
||||
|
||||
**Additional context**
|
||||
Add any other context about the problem here.
|
||||
@@ -1,21 +0,0 @@
|
||||
Choose one of the templates below:
|
||||
|
||||
# Fingerprint
|
||||
This pull requests adds a fingerprint for <Make - Model - Year - Trim>.
|
||||
|
||||
This is an explorer link to a drive with the stock system enabled: ...
|
||||
|
||||
# Car support
|
||||
This pull requests adds support for <Make - Model - Year - Trim>.
|
||||
|
||||
This is an explorer link to a drive with the stock system enabled: ...
|
||||
This is an explorer link to a drive with openpilot system enabled: ...
|
||||
|
||||
# Feature
|
||||
This pull requests adds feature X
|
||||
|
||||
## Description
|
||||
Explain what the feature does
|
||||
|
||||
## Testing
|
||||
Explain how the feature was tested. Either by the added unit tests, or what tests were performed while driving.
|
||||
+7
-1
@@ -53,12 +53,18 @@ one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
apks
|
||||
openpilot-apks
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
cppcheck_report.txt
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma.sh
|
||||
|
||||
+5
-11
@@ -2,7 +2,7 @@
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
|
||||
## Getting Started
|
||||
|
||||
@@ -12,23 +12,19 @@ Most open source development activity is coordinated through our [Discord](https
|
||||
|
||||
## Testing
|
||||
|
||||
### Local Testing
|
||||
|
||||
You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code.
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
@@ -38,12 +34,10 @@ git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule init
|
||||
git submodule update
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
Modules that are in seperate repositories include:
|
||||
* apks
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
|
||||
Vendored
+160
@@ -0,0 +1,160 @@
|
||||
def phone(String ip, String step_label, String cmd) {
|
||||
def ci_env = "CI=1 TEST_DIR=${env.TEST_DIR} GIT_BRANCH=${env.GIT_BRANCH} GIT_COMMIT=${env.GIT_COMMIT}"
|
||||
|
||||
withCredentials([file(credentialsId: 'id_rsa_public', variable: 'key_file')]) {
|
||||
sh label: step_label,
|
||||
script: """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 root@${ip} '${ci_env} /usr/bin/bash -le' <<'EOF'
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
EOF"""
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
phone(device_ip, "kill old processes", "pkill -f comma || true")
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
}
|
||||
options {
|
||||
timeout(time: 1, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Release Build') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('openpilot tests') {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
stages {
|
||||
|
||||
/*
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
stages {
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh 'scons -j$(nproc)'
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
// fix permissions since docker runs as another user
|
||||
sh "chmod -R 777 ."
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('On-device Tests') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
|
||||
stage('Devel Build') {
|
||||
environment {
|
||||
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
|
||||
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
|
||||
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
|
||||
["test text window build", "cd selfdrive/ui/text && make clean && make"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
//["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
post {
|
||||
always {
|
||||
cleanWs()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -64,62 +64,64 @@ Supported Cars
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Acura | RDX 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | Honda Sensing | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019 | Honda Sensing | Stock | 0mph | 3mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Lexus | CT Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-17 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-19 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | C-HR 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 2016 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2017-18 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2017-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
Community Maintained Cars and Features
|
||||
@@ -135,33 +137,38 @@ Community Maintained Cars and Features
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G80 2018<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19<sup>2</sup> | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16<sup>2</sup> | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Kona 2017-19<sup>2</sup> | SCC + LKAS | Stock | 22mph | 0mph |
|
||||
| Hyundai | Kona 2019 EV<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Palisade 2020<sup>2</sup> | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017<sup>2</sup> | SCC + LKAS/LDWS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018<sup>2</sup> | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-19<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2019<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017<sup>2</sup> | Propilot | Stock | 0mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-19 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2018-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires a [panda](https://comma.ai/shop/products/panda-obd-ii-dongle) and [community built giraffe](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>May require a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
|
||||
@@ -174,7 +181,7 @@ Installation Instructions
|
||||
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
Follow these [video instructions](https://youtu.be/3nlkomHathI) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
|
||||
|
||||
@@ -237,7 +244,6 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* Right hand driving vehicles.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
@@ -267,8 +273,23 @@ Safety and Testing
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
See the full [README](tools/sim/README.md)
|
||||
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
|
||||
Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
@@ -277,7 +298,7 @@ openpilot is developed by [comma](https://comma.ai/) and by users like you. We w
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/). We also have a [bounty program](https://comma.ai/bounties.html).
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
@@ -293,7 +314,7 @@ Directory Structure
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── assets # Fonts, images and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
@@ -327,7 +348,7 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions)
|
||||
[](https://github.com/commaai/openpilot/actions)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
|
||||
|
||||
+124
-63
@@ -1,23 +1,84 @@
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
* Improved vehicle model estimation using high precision localizer
|
||||
* Improved thermal management on comma two
|
||||
* Improved autofocus for road-facing camera
|
||||
* Improved noise performance for driver-facing camera
|
||||
* Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
|
||||
* Fix GM ignition detection
|
||||
* Code cleanup and smaller release sizes
|
||||
* Hyundai Sonata 2020 promoted to officially supported car
|
||||
* Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
|
||||
* Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
@@ -453,96 +514,96 @@ Version 0.3.4 (2017-07-28)
|
||||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
|
||||
@@ -22,7 +22,7 @@ hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
|
||||
+98
-34
@@ -1,7 +1,13 @@
|
||||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
@@ -11,13 +17,15 @@ AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
if arch == "aarch64" and not os.path.isdir("/system"):
|
||||
|
||||
if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
webcam = bool(ARGUMENTS.get("use_webcam", 0))
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv = {
|
||||
@@ -36,27 +44,38 @@ if arch == "aarch64" or arch == "larch64":
|
||||
|
||||
libpath = [
|
||||
"/usr/lib",
|
||||
"/data/data/com.termux/files/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
]
|
||||
|
||||
if arch == "larch64":
|
||||
libpath += ["#phonelibs/snpe/larch64"]
|
||||
libpath += ["#phonelibs/libyuv/larch64/lib"]
|
||||
libpath += ["/usr/lib/aarch64-linux-gnu"]
|
||||
libpath += [
|
||||
"#phonelibs/snpe/larch64",
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
else:
|
||||
libpath += ["#phonelibs/snpe/aarch64"]
|
||||
libpath += ["#phonelibs/libyuv/lib"]
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = ["/system/vendor/lib64"]
|
||||
rpath = []
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
cxxflags += ["-DQCOM_REPLAY"]
|
||||
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
|
||||
lenv = {
|
||||
"PATH": "#external/bin:" + os.environ['PATH'],
|
||||
}
|
||||
@@ -72,6 +91,8 @@ else:
|
||||
"/usr/local/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
@@ -84,18 +105,21 @@ else:
|
||||
]
|
||||
|
||||
rpath = [
|
||||
"external/tensorflow/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"]
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
"external/tensorflow/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
|
||||
# allows shared libraries to work globally
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
if GetOption('asan'):
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags_asan = ["-fsanitize=address"]
|
||||
else:
|
||||
ccflags_asan = []
|
||||
ldflags_asan = []
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
@@ -106,9 +130,14 @@ env = Environment(
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags_asan,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
@@ -119,7 +148,6 @@ env = Environment(
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
#"#phonelibs/opencv/include", # use opencv4 instead
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
@@ -127,11 +155,14 @@ env = Environment(
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
"#selfdrive/camerad",
|
||||
"#selfdrive/camerad/include",
|
||||
"#selfdrive/loggerd/include",
|
||||
"#selfdrive/modeld",
|
||||
"#selfdrive/sensord",
|
||||
"#selfdrive/ui",
|
||||
"#cereal/messaging",
|
||||
"#cereal",
|
||||
"#opendbc/can",
|
||||
@@ -144,17 +175,31 @@ env = Environment(
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++14"] + cxxflags,
|
||||
LIBPATH=libpath +
|
||||
[
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"#phonelibs",
|
||||
]
|
||||
"#opendbc/can",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
if GetOption('test'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
CacheDir('/tmp/scons_cache')
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
if TICI:
|
||||
cache_dir = '/data/scons_cache'
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
|
||||
CacheDir(cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
@@ -177,9 +222,26 @@ def abspath(x):
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
# Cython build enviroment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(py_include)]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'arch', 'zmq', 'SHARED', 'webcam')
|
||||
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
@@ -207,11 +269,11 @@ SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['common/transformations/SConscript'])
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
@@ -220,16 +282,18 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/locationd/models/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch == "aarch64":
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
else:
|
||||
|
||||
if arch == "x86_64":
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
|
||||
|
||||
Binary file not shown.
@@ -1 +0,0 @@
|
||||
.sconsign.dblite
|
||||
Vendored
-25
@@ -1,25 +0,0 @@
|
||||
name: Tests
|
||||
|
||||
on: [push, pull_request]
|
||||
|
||||
jobs:
|
||||
test:
|
||||
|
||||
runs-on: ubuntu-16.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- name: Build docker image
|
||||
run: docker build -t cereal .
|
||||
- name: Static analysis
|
||||
run: |
|
||||
docker run cereal bash -c "git init && git add -A && pre-commit run --all"
|
||||
- name: Unit Tests
|
||||
run: |
|
||||
docker run cereal bash -c "scons --test --asan -j$(nproc) && messaging/test_runner"
|
||||
- name: Test ZMQ
|
||||
run: |
|
||||
docker run cereal bash -c "ZMQ=1 python -m unittest discover ."
|
||||
- name: Test MSGQ
|
||||
run: |
|
||||
docker run cereal bash -c "MSGQ=1 python -m unittest discover ."
|
||||
@@ -1,6 +1,7 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
repos:
|
||||
- repo: https://github.com/pre-commit/pre-commit-hooks
|
||||
rev: master
|
||||
hooks:
|
||||
- id: check-ast
|
||||
- id: check-json
|
||||
- id: check-xml
|
||||
- id: check-yaml
|
||||
- repo: https://github.com/pre-commit/mirrors-mypy
|
||||
rev: master
|
||||
hooks:
|
||||
- id: mypy
|
||||
- repo: https://github.com/PyCQA/flake8
|
||||
rev: master
|
||||
hooks:
|
||||
- id: flake8
|
||||
args:
|
||||
- --select=F
|
||||
- repo: local
|
||||
hooks:
|
||||
- id: pylint
|
||||
name: pylint
|
||||
entry: pylint
|
||||
language: system
|
||||
types: [python]
|
||||
args:
|
||||
- --disable=R,C,W
|
||||
@@ -1,18 +0,0 @@
|
||||
FROM ubuntu:16.04
|
||||
|
||||
RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.7.3
|
||||
RUN pyenv global 3.7.3
|
||||
RUN pyenv rehash
|
||||
RUN pip3 install pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==0.6.4 pre-commit==2.4.0 pylint==2.5.2
|
||||
|
||||
WORKDIR /project/cereal
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
COPY . .
|
||||
RUN rm -rf .git
|
||||
RUN scons -c && scons -j$(nproc)
|
||||
@@ -1,41 +0,0 @@
|
||||
What is cereal?
|
||||
----
|
||||
|
||||
cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
|
||||
|
||||
Imagine this use case:
|
||||
* A sensor process reads gyro measurements directly from an IMU and publishes a sensorEvents packet
|
||||
* A calibration process subscribes to the sensorEvents packet to use the IMU
|
||||
* A localization process subscribes to the sensorEvents packet to use the IMU also
|
||||
|
||||
|
||||
Messaging Spec
|
||||
----
|
||||
|
||||
You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
|
||||
|
||||
All Events have a logMonoTime and a valid. Then a big union defines the packet type.
|
||||
|
||||
|
||||
Pub Sub Backends
|
||||
----
|
||||
|
||||
cereal supports two backends, one based on [zmq](https://zeromq.org/), the other called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
|
||||
|
||||
Example
|
||||
---
|
||||
```python
|
||||
import cereal.messaging as messaging
|
||||
|
||||
# in subscriber
|
||||
sm = messaging.SubMaster(['sensorEvents'])
|
||||
while 1:
|
||||
sm.update()
|
||||
print(sm['sensorEvents'])
|
||||
|
||||
# in publisher
|
||||
pm = messaging.PubMaster(['sensorEvents'])
|
||||
dat = messaging.new_message('sensorEvents', size=1)
|
||||
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
|
||||
pm.send('sensorEvents', dat)
|
||||
```
|
||||
+20
-24
@@ -1,42 +1,42 @@
|
||||
Import('env', 'arch', 'zmq')
|
||||
Import('env', 'envCython', 'arch', 'zmq')
|
||||
|
||||
import shutil
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
gen_dir = Dir('gen')
|
||||
messaging_dir = Dir('messaging')
|
||||
|
||||
# TODO: remove src-prefix and cereal from command string. can we set working directory?
|
||||
env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
|
||||
env.Command(
|
||||
['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')
|
||||
import shutil
|
||||
env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
|
||||
|
||||
if shutil.which('capnpc-java'):
|
||||
env.Command(
|
||||
['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')
|
||||
env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
|
||||
['car.capnp', 'log.capnp'],
|
||||
f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
|
||||
|
||||
# TODO: remove non shared cereal and messaging
|
||||
cereal_objects = env.SharedObject([
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
'messaging/socketmaster.cc',
|
||||
])
|
||||
'gen/cpp/car.capnp.c++',
|
||||
'gen/cpp/log.capnp.c++',
|
||||
])
|
||||
|
||||
env.Library('cereal', cereal_objects)
|
||||
env.SharedLibrary('cereal_shared', cereal_objects)
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
services_h = env.Command(
|
||||
['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
services_h = env.Command(['services.h'],
|
||||
['service_list.yaml', 'services.py'],
|
||||
'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
'messaging/impl_zmq.cc',
|
||||
'messaging/impl_msgq.cc',
|
||||
'messaging/msgq.cc',
|
||||
'messaging/socketmaster.cc',
|
||||
])
|
||||
|
||||
messaging_lib = env.Library('messaging', messaging_objects)
|
||||
@@ -46,7 +46,7 @@ Depends('messaging/impl_zmq.cc', services_h)
|
||||
# TODO: get APK to load system zmq to remove the static link
|
||||
if arch == "aarch64":
|
||||
zmq_static = FindFile("libzmq.a", "/usr/lib")
|
||||
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared"]
|
||||
shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
|
||||
env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
|
||||
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
@@ -55,11 +55,7 @@ Depends('messaging/bridge.cc', services_h)
|
||||
# different target?
|
||||
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
|
||||
|
||||
env.Command(['messaging/messaging_pyx.so'],
|
||||
[messaging_lib, 'messaging/messaging_pyx_setup.py', 'messaging/messaging_pyx.pyx', 'messaging/messaging.pxd'],
|
||||
"cd " + messaging_dir.path + " && python3 messaging_pyx_setup.py build_ext --inplace")
|
||||
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
zmq = 'zmq'
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
|
||||
cpppath = [
|
||||
cereal_dir,
|
||||
'/usr/lib/include',
|
||||
]
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Werror=implicit-function-declaration",
|
||||
"-Werror=incompatible-pointer-types",
|
||||
"-Werror=int-conversion",
|
||||
"-Werror=return-type",
|
||||
"-Werror=format-extra-args",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++14",
|
||||
CPPPATH=cpppath,
|
||||
)
|
||||
|
||||
|
||||
Export('env', 'zmq', 'arch')
|
||||
SConscript(['SConscript'])
|
||||
+31
-14
@@ -25,7 +25,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
@@ -38,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
dataNeededDEPRECATED @16;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -49,29 +47,22 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
debugAlert @34;
|
||||
steerTempUnavailableMute @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
lowBattery @48;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
vehicleModelInvalid @50;
|
||||
controlsFailed @51;
|
||||
sensorDataInvalid @52;
|
||||
@@ -82,7 +73,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
invalidGiraffeToyota @60;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
@@ -93,7 +83,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlockedDEPRECATED @71;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
gasPressed @73;
|
||||
stockFcw @74;
|
||||
@@ -103,10 +93,31 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
startupMaster @78;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
whitePandaUnsupported @81;
|
||||
startupWhitePanda @82;
|
||||
canErrorPersistent @83;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
|
||||
startupOneplus @82;
|
||||
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -188,6 +199,7 @@ struct CarState {
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
@@ -387,6 +399,9 @@ struct CarParams {
|
||||
steerRateCost @33 :Float32; # Lateral MPC cost on steering rate
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
minSpeedCan @51 :Float32; # Minimum vehicle speed from CAN (below this value drops to 0)
|
||||
stoppingBrakeRate @52 :Float32; # brake_travel/s while trying to stop
|
||||
startingBrakeRate @53 :Float32; # brake_travel/s while releasing on restart
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
@@ -467,6 +482,8 @@ struct CarParams {
|
||||
hondaBoschHarness @20;
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
|
||||
@@ -1,26 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
rm -r gen/ts
|
||||
rm -r gen/js
|
||||
|
||||
mkdir gen/ts
|
||||
mkdir gen/js
|
||||
|
||||
echo "Installing needed npm modules"
|
||||
npm i capnpc-ts capnp-ts
|
||||
|
||||
capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
|
||||
capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
|
||||
|
||||
cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
|
||||
do
|
||||
TOKEN=`echo $line | sed 's/\./_/g'`
|
||||
ROOT=`echo $line | sed 's/\..*$//g'`
|
||||
cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
|
||||
if [[ "$?" == "1" ]]
|
||||
then
|
||||
sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
|
||||
fi
|
||||
done
|
||||
|
||||
tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
|
||||
@@ -1,12 +0,0 @@
|
||||
set -e
|
||||
echo "Installing capnp"
|
||||
|
||||
cd /tmp
|
||||
VERSION=0.6.1
|
||||
wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz
|
||||
tar xvf capnproto-c++-${VERSION}.tar.gz
|
||||
cd capnproto-c++-${VERSION}
|
||||
CXXFLAGS="-fPIC" ./configure
|
||||
|
||||
make -j$(nproc)
|
||||
make install
|
||||
+107
-14
@@ -49,6 +49,8 @@ struct InitData {
|
||||
neo @1;
|
||||
chffrAndroid @2;
|
||||
chffrIos @3;
|
||||
tici @4;
|
||||
pc @5;
|
||||
}
|
||||
|
||||
struct AndroidBuildInfo {
|
||||
@@ -130,6 +132,7 @@ struct FrameData {
|
||||
focusVal @16 :List(Int16);
|
||||
focusConf @17 :List(UInt8);
|
||||
sharpnessScore @18 :List(UInt16);
|
||||
recoverState @19 :Int32;
|
||||
|
||||
frameType @7 :FrameType;
|
||||
timestampSof @8 :UInt64;
|
||||
@@ -185,6 +188,7 @@ struct SensorEventData {
|
||||
gyroUncalibrated @12 :SensorVec;
|
||||
proximity @13: Float32;
|
||||
light @14: Float32;
|
||||
temperature @15: Float32;
|
||||
}
|
||||
source @8 :SensorSource;
|
||||
|
||||
@@ -202,6 +206,8 @@ struct SensorEventData {
|
||||
lsm6ds3 @5; # accelerometer (c2)
|
||||
bmp280 @6; # barometer (c2)
|
||||
mmc3416x @7; # magnetometer (c2)
|
||||
bmx055 @8;
|
||||
rpr0521 @9;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -266,14 +272,15 @@ struct CanData {
|
||||
}
|
||||
|
||||
struct ThermalData {
|
||||
cpu0 @0 :UInt16;
|
||||
cpu1 @1 :UInt16;
|
||||
cpu2 @2 :UInt16;
|
||||
cpu3 @3 :UInt16;
|
||||
mem @4 :UInt16;
|
||||
gpu @5 :UInt16;
|
||||
bat @6 :UInt32;
|
||||
pa0 @21 :UInt16;
|
||||
# Deprecated
|
||||
cpu0DEPRECATED @0 :UInt16;
|
||||
cpu1DEPRECATED @1 :UInt16;
|
||||
cpu2DEPRECATED @2 :UInt16;
|
||||
cpu3DEPRECATED @3 :UInt16;
|
||||
memDEPRECATED @4 :UInt16;
|
||||
gpuDEPRECATED @5 :UInt16;
|
||||
batDEPRECATED @6 :UInt32;
|
||||
pa0DEPRECATED @21 :UInt16;
|
||||
|
||||
# not thermal
|
||||
freeSpace @7 :Float32;
|
||||
@@ -285,6 +292,7 @@ struct ThermalData {
|
||||
networkType @22 :NetworkType;
|
||||
offroadPowerUsage @23 :UInt32; # Power usage since going offroad in uWh
|
||||
networkStrength @24 :NetworkStrength;
|
||||
carBatteryCapacity @25 :UInt32; # Estimated remaining car battery capacity in uWh
|
||||
|
||||
fanSpeed @10 :UInt16;
|
||||
started @11 :Bool;
|
||||
@@ -297,6 +305,12 @@ struct ThermalData {
|
||||
memUsedPercent @19 :Int8;
|
||||
cpuPerc @20 :Int8;
|
||||
|
||||
cpu @26 :List(Float32);
|
||||
gpu @27 :List(Float32);
|
||||
mem @28 :Float32;
|
||||
bat @29 :Float32;
|
||||
ambient @30 :Float32;
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
yellow @1; # critical processes run (kill uploader), engage still allowed
|
||||
@@ -371,6 +385,9 @@ struct HealthData {
|
||||
interruptRateTim1 @16;
|
||||
interruptRateTim3 @17;
|
||||
registerDivergent @18;
|
||||
interruptRateKlineInit @19;
|
||||
interruptRateClockSource @20;
|
||||
interruptRateTim9 @21;
|
||||
# Update max fault type in boardd when adding faults
|
||||
}
|
||||
|
||||
@@ -381,6 +398,7 @@ struct HealthData {
|
||||
blackPanda @3;
|
||||
pedal @4;
|
||||
uno @5;
|
||||
dos @6;
|
||||
}
|
||||
|
||||
enum UsbPowerMode {
|
||||
@@ -438,18 +456,22 @@ struct RadarState @0x9a185389d6fdd05f {
|
||||
struct LiveCalibrationData {
|
||||
# deprecated
|
||||
warpMatrix @0 :List(Float32);
|
||||
|
||||
# camera_frame_from_model_frame
|
||||
warpMatrix2 @5 :List(Float32);
|
||||
warpMatrixBig @6 :List(Float32);
|
||||
|
||||
calStatus @1 :Int8;
|
||||
calCycle @2 :Int32;
|
||||
calPerc @3 :Int8;
|
||||
validBlocks @9 :Int32;
|
||||
|
||||
# view_frame_from_road_frame
|
||||
# ui's is inversed needs new
|
||||
extrinsicMatrix @4 :List(Float32);
|
||||
# the direction of travel vector in device frame
|
||||
rpyCalib @7 :List(Float32);
|
||||
rpyCalibSpread @8 :List(Float32);
|
||||
}
|
||||
|
||||
struct LiveTracks {
|
||||
@@ -551,7 +573,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
|
||||
enum AlertStatus {
|
||||
normal @0; # low priority alert for user's convenience
|
||||
userPrompt @1; # mid piority alert that might require user intervention
|
||||
userPrompt @1; # mid priority alert that might require user intervention
|
||||
critical @2; # high priority alert that needs immediate user intervention
|
||||
}
|
||||
|
||||
@@ -595,9 +617,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
||||
output @3 :Float32;
|
||||
lqrOutput @4 :Float32;
|
||||
saturated @5 :Bool;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData {
|
||||
@@ -607,7 +627,12 @@ struct LiveEventData {
|
||||
|
||||
struct ModelData {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
@@ -627,6 +652,7 @@ struct ModelData {
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData {
|
||||
@@ -667,6 +693,57 @@ struct ModelData {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct ModelDataV2 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @1 :UInt32;
|
||||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
modelExecutionTime @15 :Float32;
|
||||
gpuExecutionTime @17 :Float32;
|
||||
rawPred @16 :Data;
|
||||
|
||||
position @4 :XYZTData;
|
||||
orientation @5 :XYZTData;
|
||||
velocity @6 :XYZTData;
|
||||
orientationRate @7 :XYZTData;
|
||||
laneLines @8 :List(XYZTData);
|
||||
laneLineProbs @9 :List(Float32);
|
||||
laneLineStds @13 :List(Float32);
|
||||
roadEdges @10 :List(XYZTData);
|
||||
roadEdgeStds @14 :List(Float32);
|
||||
leads @11 :List(LeadDataV2);
|
||||
|
||||
meta @12 :MetaData;
|
||||
|
||||
struct XYZTData {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
z @2 :List(Float32);
|
||||
t @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
zStd @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32;
|
||||
t @1 :Float32;
|
||||
xyva @2 :List(Float32);
|
||||
xyvaStd @3 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct CalibrationFeatures {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
@@ -687,6 +764,8 @@ struct EncodeIndex {
|
||||
segmentId @4 :UInt32;
|
||||
# index into camera file in segment in encode order
|
||||
segmentIdEncode @5 :UInt32;
|
||||
timestampSof @6 :UInt64;
|
||||
timestampEof @7 :UInt64;
|
||||
|
||||
enum Type {
|
||||
bigBoxLossless @0; # rcamera.mkv
|
||||
@@ -839,6 +918,7 @@ struct LiveLocationKalman {
|
||||
# These angles are all eulers and roll, pitch, yaw
|
||||
# orientationECEF transforms to rot matrix: ecef_from_device
|
||||
orientationECEF @6 : Measurement;
|
||||
calibratedOrientationECEF @20 : Measurement;
|
||||
orientationNED @7 : Measurement;
|
||||
angularVelocityDevice @8 : Measurement;
|
||||
|
||||
@@ -858,6 +938,8 @@ struct LiveLocationKalman {
|
||||
inputsOK @17 :Bool = true;
|
||||
posenetOK @18 :Bool = true;
|
||||
gpsOK @19 :Bool = true;
|
||||
sensorsOK @21 :Bool = true;
|
||||
deviceStable @22 :Bool = true;
|
||||
|
||||
enum Status {
|
||||
uninitialized @0;
|
||||
@@ -1873,6 +1955,10 @@ struct OrbKeyFrame {
|
||||
|
||||
struct DriverState {
|
||||
frameId @0 :UInt32;
|
||||
modelExecutionTime @14 :Float32;
|
||||
dspExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
faceOrientation @3 :List(Float32);
|
||||
@@ -1885,6 +1971,7 @@ struct DriverState {
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
faceOrientationStd @11 :List(Float32);
|
||||
facePositionStd @12 :List(Float32);
|
||||
sgProb @13 :Float32;
|
||||
}
|
||||
|
||||
struct DMonitoringState {
|
||||
@@ -1894,7 +1981,6 @@ struct DMonitoringState {
|
||||
isDistracted @2 :Bool;
|
||||
awarenessStatus @3 :Float32;
|
||||
isRHD @4 :Bool;
|
||||
rhdChecked @5 :Bool;
|
||||
posePitchOffset @6 :Float32;
|
||||
posePitchValidCount @7 :UInt32;
|
||||
poseYawOffset @8 :Float32;
|
||||
@@ -1905,12 +1991,15 @@ struct DMonitoringState {
|
||||
isLowStd @13 :Bool;
|
||||
hiStdCount @14 :UInt32;
|
||||
isPreview @15 :Bool;
|
||||
|
||||
rhdCheckedDEPRECATED @5 :Bool;
|
||||
}
|
||||
|
||||
struct Boot {
|
||||
wallTimeNanos @0 :UInt64;
|
||||
lastKmsg @1 :Data;
|
||||
lastPmsg @2 :Data;
|
||||
launchLog @3 :Text;
|
||||
}
|
||||
|
||||
struct LiveParametersData {
|
||||
@@ -2046,9 +2135,13 @@ struct Event {
|
||||
thumbnail @66: Thumbnail;
|
||||
carEvents @68: List(Car.CarEvent);
|
||||
carParams @69: Car.CarParams;
|
||||
frontFrame @70: FrameData;
|
||||
frontFrame @70: FrameData; # driver facing camera
|
||||
dMonitoringState @71: DMonitoringState;
|
||||
liveLocationKalman @72 :LiveLocationKalman;
|
||||
sentinel @73 :Sentinel;
|
||||
wideFrame @74: FrameData;
|
||||
modelV2 @75 :ModelDataV2;
|
||||
frontEncodeIdx @76 :EncodeIndex; # driver facing camera
|
||||
wideEncodeIdx @77 :EncodeIndex;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,53 +0,0 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Map");
|
||||
|
||||
@0xa086df597ef5d7a0;
|
||||
|
||||
# Geometry
|
||||
struct Point {
|
||||
x @0: Float64;
|
||||
y @1: Float64;
|
||||
z @2: Float64;
|
||||
}
|
||||
|
||||
struct PolyLine {
|
||||
points @0: List(Point);
|
||||
}
|
||||
|
||||
# Map features
|
||||
struct Lane {
|
||||
id @0 :Text;
|
||||
|
||||
leftBoundary @1 :LaneBoundary;
|
||||
rightBoundary @2 :LaneBoundary;
|
||||
|
||||
leftAdjacentId @3 :Text;
|
||||
rightAdjacentId @4 :Text;
|
||||
|
||||
inboundIds @5 :List(Text);
|
||||
outboundIds @6 :List(Text);
|
||||
|
||||
struct LaneBoundary {
|
||||
polyLine @0 :PolyLine;
|
||||
startHeading @1 :Float32; # WRT north
|
||||
}
|
||||
}
|
||||
|
||||
# Map tiles
|
||||
struct TileSummary {
|
||||
version @0 :Text;
|
||||
updatedAt @1 :UInt64; # Millis since epoch
|
||||
|
||||
level @2 :UInt8;
|
||||
x @3 :UInt16;
|
||||
y @4 :UInt16;
|
||||
}
|
||||
|
||||
struct MapTile {
|
||||
summary @0 :TileSummary;
|
||||
lanes @1 :List(Lane);
|
||||
}
|
||||
@@ -3,12 +3,14 @@ from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disa
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import capnp
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
from typing import Optional, List, Union
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
@@ -19,7 +21,7 @@ except ImportError:
|
||||
|
||||
context = Context()
|
||||
|
||||
def new_message(service=None, size=None):
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
@@ -30,15 +32,15 @@ def new_message(service=None, size=None):
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint):
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=None):
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
addr = addr.encode('utf8')
|
||||
sock.connect(context, endpoint, addr, conflate)
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
@@ -48,9 +50,9 @@ def sub_sock(endpoint, poller=None, addr="127.0.0.1", conflate=False, timeout=No
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock, wait_for_one=False):
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
@@ -64,16 +66,16 @@ def drain_sock_raw(sock, wait_for_one=False):
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock, wait_for_one=False):
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret = []
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None: # Timeout hit
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log.Event.from_bytes(dat)
|
||||
@@ -83,7 +85,7 @@ def drain_sock(sock, wait_for_one=False):
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock, wait=False):
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
@@ -93,7 +95,7 @@ def recv_sock(sock, wait=False):
|
||||
else:
|
||||
rcv = sock.receive(non_blocking=True)
|
||||
|
||||
if rcv is None: # Timeout hit
|
||||
if rcv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = rcv
|
||||
@@ -103,45 +105,42 @@ def recv_sock(sock, wait=False):
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock):
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock):
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log.Event.from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock):
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log.Event.from_bytes(dat)
|
||||
|
||||
# TODO: This does not belong in messaging
|
||||
def get_one_can(logcan):
|
||||
while True:
|
||||
can = recv_one_retry(logcan)
|
||||
if len(can.can) > 0:
|
||||
return can
|
||||
|
||||
class SubMaster():
|
||||
def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
|
||||
self.poller = Poller()
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, addr:str ="127.0.0.1"):
|
||||
self.frame = -1
|
||||
self.updated = {s : False for s in services}
|
||||
self.rcv_time = {s : 0. for s in services}
|
||||
self.rcv_frame = {s : 0 for s in services}
|
||||
self.alive = {s : False for s in services}
|
||||
self.updated = {s: False for s in services}
|
||||
self.rcv_time = {s: 0. for s in services}
|
||||
self.rcv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.logMonoTime = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
if ignore_alive is not None:
|
||||
self.ignore_alive = ignore_alive
|
||||
@@ -150,30 +149,33 @@ class SubMaster():
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
# lists
|
||||
data = new_message(s, 0)
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s):
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout=1000):
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time, msgs):
|
||||
# TODO: add optional input that specify the service to wait for
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
@@ -196,30 +198,28 @@ class SubMaster():
|
||||
else:
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None):
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None):
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_alive_and_valid(self, service_list=None):
|
||||
def all_alive_and_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
|
||||
class PubMaster():
|
||||
def __init__(self, services):
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s, dat):
|
||||
# accept either bytes or capnp builder
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,50 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <cstddef>
|
||||
#include <chrono>
|
||||
#include <thread>
|
||||
#include <cassert>
|
||||
|
||||
#include "messaging.hpp"
|
||||
#include "impl_zmq.hpp"
|
||||
|
||||
#define MSGS 1e5
|
||||
|
||||
int main() {
|
||||
Context * c = Context::create();
|
||||
SubSocket * sub_sock = SubSocket::create(c, "controlsState");
|
||||
PubSocket * pub_sock = PubSocket::create(c, "controlsState");
|
||||
|
||||
char data[8];
|
||||
|
||||
Poller * poller = Poller::create({sub_sock});
|
||||
|
||||
auto start = std::chrono::steady_clock::now();
|
||||
|
||||
for (uint64_t i = 0; i < MSGS; i++){
|
||||
*(uint64_t*)data = i;
|
||||
pub_sock->send(data, 8);
|
||||
|
||||
auto r = poller->poll(100);
|
||||
|
||||
for (auto p : r){
|
||||
Message * m = p->receive();
|
||||
uint64_t ii = *(uint64_t*)m->getData();
|
||||
assert(i == ii);
|
||||
delete m;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
auto end = std::chrono::steady_clock::now();
|
||||
double elapsed = std::chrono::duration_cast<std::chrono::nanoseconds>(end - start).count() / 1e9;
|
||||
double throughput = ((double) MSGS / (double) elapsed);
|
||||
std::cout << throughput << " msg/s" << std::endl;
|
||||
|
||||
delete poller;
|
||||
delete sub_sock;
|
||||
delete pub_sock;
|
||||
delete c;
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,30 +0,0 @@
|
||||
import time
|
||||
|
||||
from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
MSGS = 1e5
|
||||
|
||||
if __name__ == "__main__":
|
||||
c = Context()
|
||||
sub_sock = SubSocket()
|
||||
pub_sock = PubSocket()
|
||||
|
||||
sub_sock.connect(c, "controlsState")
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
|
||||
poller = Poller()
|
||||
poller.registerSocket(sub_sock)
|
||||
|
||||
t = time.time()
|
||||
for i in range(int(MSGS)):
|
||||
bts = i.to_bytes(4, 'little')
|
||||
pub_sock.send(bts)
|
||||
|
||||
for s in poller.poll(100):
|
||||
dat = s.receive()
|
||||
ii = int.from_bytes(dat, 'little')
|
||||
assert(i == ii)
|
||||
|
||||
dt = time.time() - t
|
||||
print("%.1f msg/s" % (MSGS / dt))
|
||||
@@ -15,6 +15,18 @@ void sig_handler(int signal) {
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
static size_t get_size(std::string endpoint){
|
||||
size_t sz = DEFAULT_SEGMENT_SIZE;
|
||||
|
||||
#if !defined(QCOM) && !defined(QCOM2)
|
||||
if (endpoint == "frame" || endpoint == "frontFrame" || endpoint == "wideFrame"){
|
||||
sz *= 10;
|
||||
}
|
||||
#endif
|
||||
|
||||
return sz;
|
||||
}
|
||||
|
||||
|
||||
MSGQContext::MSGQContext() {
|
||||
}
|
||||
@@ -49,13 +61,12 @@ MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
@@ -143,7 +154,7 @@ int MSGQPubSocket::connect(Context *context, std::string endpoint){
|
||||
assert(context);
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE);
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
return r;
|
||||
}
|
||||
|
||||
@@ -6,6 +6,10 @@
|
||||
#include <capnp/serialize.h>
|
||||
#include "../gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
class Context {
|
||||
@@ -59,34 +63,59 @@ public:
|
||||
};
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
public:
|
||||
SubMaster(const std::initializer_list<const char *> &service_list,
|
||||
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
|
||||
int update(int timeout = 1000);
|
||||
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
bool updated(const char *name) const;
|
||||
void drain();
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
~SubMaster();
|
||||
|
||||
private:
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name);
|
||||
|
||||
private:
|
||||
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
uint64_t frame_ = 0;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
public:
|
||||
PubMaster(const std::initializer_list<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, capnp::MessageBuilder &msg);
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
@@ -7,11 +7,11 @@ from libcpp cimport bool
|
||||
from libc cimport errno
|
||||
|
||||
|
||||
from messaging cimport Context as cppContext
|
||||
from messaging cimport SubSocket as cppSubSocket
|
||||
from messaging cimport PubSocket as cppPubSocket
|
||||
from messaging cimport Poller as cppPoller
|
||||
from messaging cimport Message as cppMessage
|
||||
from .messaging cimport Context as cppContext
|
||||
from .messaging cimport SubSocket as cppSubSocket
|
||||
from .messaging cimport PubSocket as cppPubSocket
|
||||
from .messaging cimport Poller as cppPoller
|
||||
from .messaging cimport Message as cppMessage
|
||||
|
||||
|
||||
class MessagingError(Exception):
|
||||
@@ -59,12 +59,12 @@ cdef class Poller:
|
||||
cdef int t = timeout
|
||||
|
||||
with nogil:
|
||||
result = self.poller.poll(t)
|
||||
result = self.poller.poll(t)
|
||||
|
||||
for s in result:
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
socket = SubSocket()
|
||||
socket.setPtr(s)
|
||||
sockets.append(socket)
|
||||
|
||||
return sockets
|
||||
|
||||
@@ -140,9 +140,9 @@ cdef class PubSocket:
|
||||
else:
|
||||
raise MessagingError
|
||||
|
||||
def send(self, string data):
|
||||
def send(self, bytes data):
|
||||
length = len(data)
|
||||
r = self.socket.send(<char*>data.c_str(), length)
|
||||
r = self.socket.send(<char*>data, length)
|
||||
|
||||
if r != length:
|
||||
if errno.errno == errno.EADDRINUSE:
|
||||
|
||||
@@ -1,57 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
import sysconfig
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
|
||||
from Cython.Build import cythonize
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
||||
|
||||
sourcefiles = ['messaging_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++14"]
|
||||
libraries = ['zmq']
|
||||
ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() # pylint: disable=unexpected-keyword-arg
|
||||
|
||||
if ARCH == "aarch64" and os.path.isdir("/system"):
|
||||
# android
|
||||
extra_compile_args += ["-Wno-deprecated-register"]
|
||||
libraries += ['gnustl_shared']
|
||||
|
||||
setup(name='CAN parser',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"messaging_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
libraries=libraries,
|
||||
extra_objects=[
|
||||
os.path.join(os.path.dirname(os.path.realpath(__file__)), '../', 'libmessaging.a'),
|
||||
]
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
+27
-11
@@ -21,6 +21,8 @@
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "msgq.hpp"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
@@ -31,7 +33,13 @@ uint64_t msgq_get_uid(void){
|
||||
std::random_device rd("/dev/urandom");
|
||||
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
|
||||
|
||||
uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
|
||||
#ifdef __APPLE__
|
||||
// TODO: this doesn't work
|
||||
uint64_t uid = distribution(rd) << 32 | getpid();
|
||||
#else
|
||||
uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid);
|
||||
#endif
|
||||
|
||||
return uid;
|
||||
}
|
||||
|
||||
@@ -75,11 +83,20 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
|
||||
|
||||
if (!service_exists(std::string(path))){
|
||||
std::cout << "Warning, " << std::string(path) << " is not in service list." << std::endl;
|
||||
}
|
||||
std::signal(SIGUSR2, sigusr2_handler);
|
||||
|
||||
const char * prefix = "/dev/shm/";
|
||||
@@ -88,23 +105,24 @@ int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
|
||||
strcat(full_path, path);
|
||||
|
||||
auto fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
delete[] full_path;
|
||||
|
||||
if (fd < 0) {
|
||||
std::cout << "Warning, could not open: " << full_path << std::endl;
|
||||
delete[] full_path;
|
||||
return -1;
|
||||
}
|
||||
delete[] full_path;
|
||||
|
||||
int rc = ftruncate(fd, size + sizeof(msgq_header_t));
|
||||
if (rc < 0)
|
||||
if (rc < 0){
|
||||
close(fd);
|
||||
return -1;
|
||||
|
||||
}
|
||||
char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
|
||||
close(fd);
|
||||
|
||||
if (mem == NULL)
|
||||
if (mem == NULL){
|
||||
return -1;
|
||||
|
||||
}
|
||||
q->mmap_p = mem;
|
||||
|
||||
msgq_header_t *header = (msgq_header_t *)mem;
|
||||
@@ -412,8 +430,6 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
|
||||
|
||||
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
|
||||
assert(timeout >= 0);
|
||||
|
||||
int num = 0;
|
||||
|
||||
// Check if messages ready
|
||||
|
||||
@@ -1,56 +0,0 @@
|
||||
# MSGQ: A lock free single producer multi consumer message queue
|
||||
|
||||
[](https://dev.azure.com/commaai/default/_build/latest?definitionId=21&branchName=master)
|
||||
|
||||
## What is MSGQ?
|
||||
MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
|
||||
|
||||
## Storage
|
||||
The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
|
||||
|
||||
1. A counter to the number of readers that are active
|
||||
2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
|
||||
3. A cycle counter for the writer. This counter is incremented when the writer wraps around
|
||||
4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
|
||||
5. N counters, counting the number of cycles for all the readers
|
||||
6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
|
||||
|
||||
The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
|
||||
|
||||
The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
|
||||
|
||||
|
||||
## Writing
|
||||
Writing involves the following steps:
|
||||
|
||||
1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
|
||||
2. Write the message
|
||||
3. Increase the write pointer by the size of the message
|
||||
|
||||
In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
|
||||
|
||||
There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
|
||||
|
||||
## Reset reader
|
||||
When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
|
||||
|
||||
1. Set valid flag
|
||||
2. Set read cycle counter to that of the writer
|
||||
3. Set read pointer to write pointer
|
||||
|
||||
## Reading
|
||||
Reading involves the following steps:
|
||||
|
||||
1. Read the size field at the current read pointer
|
||||
2. Read the validity flag
|
||||
3. Copy the data out of the buffer
|
||||
4. Increase the read pointer by the size of the message
|
||||
5. Check the validity flag again
|
||||
|
||||
Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
|
||||
|
||||
If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
|
||||
|
||||
If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
|
||||
|
||||
If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
|
||||
@@ -1,395 +0,0 @@
|
||||
#include "catch2/catch.hpp"
|
||||
#include "msgq.hpp"
|
||||
|
||||
TEST_CASE("ALIGN"){
|
||||
REQUIRE(ALIGN(0) == 0);
|
||||
REQUIRE(ALIGN(1) == 8);
|
||||
REQUIRE(ALIGN(7) == 8);
|
||||
REQUIRE(ALIGN(8) == 8);
|
||||
REQUIRE(ALIGN(99999) == 100000);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_init_size"){
|
||||
const size_t msg_size = 30;
|
||||
msgq_msg_t msg;
|
||||
|
||||
msgq_msg_init_size(&msg, msg_size);
|
||||
REQUIRE(msg.size == msg_size);
|
||||
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_init_data"){
|
||||
const size_t msg_size = 30;
|
||||
char * data = new char[msg_size];
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
data[i] = i;
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_data(&msg, data, msg_size);
|
||||
|
||||
REQUIRE(msg.size == msg_size);
|
||||
REQUIRE(memcmp(msg.data, data, msg_size) == 0);
|
||||
|
||||
delete[] data;
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("msgq_init_subscriber"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
REQUIRE(*q.num_readers == 0);
|
||||
|
||||
q.reader_id = 1;
|
||||
*q.read_valids[0] = false;
|
||||
*q.read_pointers[0] = ((uint64_t)1 << 32);
|
||||
|
||||
*q.write_pointer = 255;
|
||||
|
||||
msgq_init_subscriber(&q);
|
||||
REQUIRE(q.read_conflate == false);
|
||||
REQUIRE(*q.read_valids[0] == true);
|
||||
REQUIRE((*q.read_pointers[0] >> 32) == 0);
|
||||
REQUIRE((*q.read_pointers[0] & 0xFFFFFFFF) == 255);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_send first message"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
msgq_init_publisher(&q);
|
||||
|
||||
REQUIRE(*q.write_pointer == 0);
|
||||
|
||||
size_t msg_size = 128;
|
||||
|
||||
SECTION("Aligned message size"){
|
||||
}
|
||||
SECTION("Unaligned message size"){
|
||||
msg_size--;
|
||||
}
|
||||
|
||||
char * data = new char[msg_size];
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
data[i] = i;
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_data(&msg, data, msg_size);
|
||||
|
||||
|
||||
msgq_msg_send(&msg, &q);
|
||||
REQUIRE(*(int64_t*)q.data == msg_size); // Check size tag
|
||||
REQUIRE(*q.write_pointer == 128 + sizeof(int64_t));
|
||||
REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0);
|
||||
|
||||
delete[] data;
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_send test wraparound"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q;
|
||||
msgq_new_queue(&q, "test_queue", 1024);
|
||||
msgq_init_publisher(&q);
|
||||
|
||||
REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0);
|
||||
REQUIRE((*q.write_pointer >> 32) == 0);
|
||||
|
||||
const size_t msg_size = 120;
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_size(&msg, msg_size);
|
||||
|
||||
for (int i = 0; i < 8; i++) {
|
||||
msgq_msg_send(&msg, &q);
|
||||
}
|
||||
// Check 8th message was written at the beginning
|
||||
REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t));
|
||||
|
||||
// Check cycle count
|
||||
REQUIRE((*q.write_pointer >> 32) == 1);
|
||||
|
||||
// Check wraparound tag
|
||||
char * tag_location = q.data;
|
||||
tag_location += 7 * (msg_size + sizeof(int64_t));
|
||||
REQUIRE(*(int64_t*)tag_location == -1);
|
||||
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_recv test wraparound"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q_pub, q_sub;
|
||||
msgq_new_queue(&q_pub, "test_queue", 1024);
|
||||
msgq_new_queue(&q_sub, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&q_pub);
|
||||
msgq_init_subscriber(&q_sub);
|
||||
|
||||
REQUIRE((*q_pub.write_pointer >> 32) == 0);
|
||||
REQUIRE((*q_sub.read_pointers[0] >> 32) == 0);
|
||||
|
||||
const size_t msg_size = 120;
|
||||
msgq_msg_t msg1;
|
||||
msgq_msg_init_size(&msg1, msg_size);
|
||||
|
||||
|
||||
SECTION("Check cycle counter after reset") {
|
||||
for (int i = 0; i < 8; i++) {
|
||||
msgq_msg_send(&msg1, &q_pub);
|
||||
}
|
||||
|
||||
msgq_msg_t msg2;
|
||||
msgq_msg_recv(&msg2, &q_sub);
|
||||
REQUIRE(msg2.size == 0); // Reader had to reset
|
||||
msgq_msg_close(&msg2);
|
||||
|
||||
}
|
||||
SECTION("Check cycle counter while keeping up with writer") {
|
||||
for (int i = 0; i < 8; i++) {
|
||||
msgq_msg_send(&msg1, &q_pub);
|
||||
|
||||
msgq_msg_t msg2;
|
||||
msgq_msg_recv(&msg2, &q_sub);
|
||||
REQUIRE(msg2.size > 0);
|
||||
msgq_msg_close(&msg2);
|
||||
}
|
||||
}
|
||||
|
||||
REQUIRE((*q_sub.read_pointers[0] >> 32) == 1);
|
||||
msgq_msg_close(&msg1);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_msg_send test invalidation"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q_pub, q_sub;
|
||||
msgq_new_queue(&q_pub, "test_queue", 1024);
|
||||
msgq_new_queue(&q_sub, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&q_pub);
|
||||
msgq_init_subscriber(&q_sub);
|
||||
*q_sub.write_pointer = (uint64_t)1 << 32;
|
||||
|
||||
REQUIRE(*q_sub.read_valids[0] == true);
|
||||
|
||||
SECTION("read pointer in tag"){
|
||||
*q_sub.read_pointers[0] = 0;
|
||||
}
|
||||
SECTION("read pointer in data section"){
|
||||
*q_sub.read_pointers[0] = 64;
|
||||
}
|
||||
SECTION("read pointer in wraparound section"){
|
||||
*q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead
|
||||
*q_sub.read_pointers[0] = 1020;
|
||||
}
|
||||
|
||||
msgq_msg_t msg;
|
||||
msgq_msg_init_size(&msg, 128);
|
||||
msgq_msg_send(&msg, &q_pub);
|
||||
|
||||
REQUIRE(*q_sub.read_valids[0] == false);
|
||||
|
||||
msgq_msg_close(&msg);
|
||||
}
|
||||
|
||||
TEST_CASE("msgq_init_subscriber init 2 subscribers"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t q1, q2;
|
||||
msgq_new_queue(&q1, "test_queue", 1024);
|
||||
msgq_new_queue(&q2, "test_queue", 1024);
|
||||
|
||||
*q1.num_readers = 0;
|
||||
|
||||
REQUIRE(*q1.num_readers == 0);
|
||||
REQUIRE(*q2.num_readers == 0);
|
||||
|
||||
msgq_init_subscriber(&q1);
|
||||
REQUIRE(*q1.num_readers == 1);
|
||||
REQUIRE(*q2.num_readers == 1);
|
||||
REQUIRE(q1.reader_id == 0);
|
||||
|
||||
msgq_init_subscriber(&q2);
|
||||
REQUIRE(*q1.num_readers == 2);
|
||||
REQUIRE(*q2.num_readers == 2);
|
||||
REQUIRE(q2.reader_id == 1);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Write 1 msg, read 1 msg", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
|
||||
// Build 128 byte message
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_size(&outgoing_msg, msg_size);
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
outgoing_msg.data[i] = i;
|
||||
}
|
||||
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
|
||||
msgq_msg_t incoming_msg1;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
// Verify that there are no more messages
|
||||
msgq_msg_t incoming_msg2;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&incoming_msg1);
|
||||
msgq_msg_close(&incoming_msg2);
|
||||
}
|
||||
|
||||
TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
|
||||
// Build 128 byte message
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_size(&outgoing_msg, msg_size);
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
outgoing_msg.data[i] = i;
|
||||
}
|
||||
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
|
||||
msgq_msg_t incoming_msg1;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
msgq_msg_t incoming_msg2;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&incoming_msg1);
|
||||
msgq_msg_close(&incoming_msg2);
|
||||
}
|
||||
|
||||
TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
const size_t msg_size = 128;
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
reader.read_conflate = true;
|
||||
|
||||
// Build 128 byte message
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_size(&outgoing_msg, msg_size);
|
||||
|
||||
for (size_t i = 0; i < msg_size; i++){
|
||||
outgoing_msg.data[i] = i;
|
||||
}
|
||||
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size);
|
||||
|
||||
msgq_msg_t incoming_msg1;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size);
|
||||
REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0);
|
||||
|
||||
// Verify that there are no more messages
|
||||
msgq_msg_t incoming_msg2;
|
||||
REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&incoming_msg1);
|
||||
msgq_msg_close(&incoming_msg2);
|
||||
}
|
||||
|
||||
TEST_CASE("1 publisher, 1 slow subscriber", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t writer, reader;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader);
|
||||
|
||||
int n_received = 0;
|
||||
int n_skipped = 0;
|
||||
|
||||
for (uint64_t i = 0; i < 1e5; i++) {
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
|
||||
msgq_msg_send(&outgoing_msg, &writer);
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
|
||||
if (i % 10 == 0){
|
||||
msgq_msg_t msg1;
|
||||
msgq_msg_recv(&msg1, &reader);
|
||||
|
||||
if (msg1.size == 0){
|
||||
n_skipped++;
|
||||
} else {
|
||||
n_received++;
|
||||
}
|
||||
msgq_msg_close(&msg1);
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: verify these numbers by hand
|
||||
REQUIRE(n_received == 8572);
|
||||
REQUIRE(n_skipped == 1428);
|
||||
}
|
||||
|
||||
TEST_CASE("1 publisher, 2 subscribers", "[integration]"){
|
||||
remove("/dev/shm/test_queue");
|
||||
msgq_queue_t writer, reader1, reader2;
|
||||
|
||||
msgq_new_queue(&writer, "test_queue", 1024);
|
||||
msgq_new_queue(&reader1, "test_queue", 1024);
|
||||
msgq_new_queue(&reader2, "test_queue", 1024);
|
||||
|
||||
msgq_init_publisher(&writer);
|
||||
msgq_init_subscriber(&reader1);
|
||||
msgq_init_subscriber(&reader2);
|
||||
|
||||
for (uint64_t i = 0; i < 1024 * 3; i++) {
|
||||
msgq_msg_t outgoing_msg;
|
||||
msgq_msg_init_data(&outgoing_msg, (char*)&i, sizeof(uint64_t));
|
||||
msgq_msg_send(&outgoing_msg, &writer);
|
||||
|
||||
msgq_msg_t msg1, msg2;
|
||||
msgq_msg_recv(&msg1, &reader1);
|
||||
msgq_msg_recv(&msg2, &reader2);
|
||||
|
||||
REQUIRE(msg1.size == sizeof(uint64_t));
|
||||
REQUIRE(msg2.size == sizeof(uint64_t));
|
||||
REQUIRE(*(uint64_t*)msg1.data == i);
|
||||
REQUIRE(*(uint64_t*)msg2.data == i);
|
||||
|
||||
msgq_msg_close(&outgoing_msg);
|
||||
msgq_msg_close(&msg1);
|
||||
msgq_msg_close(&msg2);
|
||||
}
|
||||
}
|
||||
@@ -2,20 +2,20 @@
|
||||
#include <time.h>
|
||||
#include "messaging.hpp"
|
||||
#include "services.h"
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
static inline uint64_t nanos_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static const service *get_service(const char *name) {
|
||||
for (const auto &it : services) {
|
||||
if (strcmp(it.name, name) == 0) return ⁢
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
|
||||
for (auto &v : list) {
|
||||
if (strcmp(value, v) == 0) return true;
|
||||
@@ -24,7 +24,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
|
||||
}
|
||||
|
||||
class MessageContext {
|
||||
public:
|
||||
public:
|
||||
MessageContext() { ctx_ = Context::create(); }
|
||||
~MessageContext() { delete ctx_; }
|
||||
Context *ctx_;
|
||||
@@ -53,18 +53,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
|
||||
assert(socket != 0);
|
||||
poller_->registerSocket(socket);
|
||||
SubMessage *m = new SubMessage{
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
}
|
||||
|
||||
int SubMaster::update(int timeout) {
|
||||
if (++frame_ == UINT64_MAX) frame_ = 1;
|
||||
if (++frame == UINT64_MAX) frame = 1;
|
||||
for (auto &kv : messages_) kv.second->updated = false;
|
||||
|
||||
int updated = 0;
|
||||
@@ -89,7 +89,7 @@ int SubMaster::update(int timeout) {
|
||||
m->event = m->msg_reader->getRoot<cereal::Event>();
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
m->rcv_frame = frame_;
|
||||
m->rcv_frame = frame;
|
||||
m->valid = m->event.getValid();
|
||||
|
||||
++updated;
|
||||
@@ -126,8 +126,17 @@ void SubMaster::drain() {
|
||||
}
|
||||
}
|
||||
|
||||
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
|
||||
bool SubMaster::updated(const char *name) const {
|
||||
return services_.at(name)->updated;
|
||||
}
|
||||
|
||||
uint64_t SubMaster::rcv_frame(const char *name) const {
|
||||
return services_.at(name)->rcv_frame;
|
||||
}
|
||||
|
||||
cereal::Event::Reader &SubMaster::operator[](const char *name) {
|
||||
return services_.at(name)->event;
|
||||
};
|
||||
|
||||
SubMaster::~SubMaster() {
|
||||
delete poller_;
|
||||
@@ -151,9 +160,8 @@ PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
|
||||
}
|
||||
}
|
||||
|
||||
int PubMaster::send(const char *name, capnp::MessageBuilder &msg) {
|
||||
auto words = capnp::messageToFlatArray(msg);
|
||||
auto bytes = words.asBytes();
|
||||
int PubMaster::send(const char *name, MessageBuilder &msg) {
|
||||
auto bytes = msg.toBytes();
|
||||
return send(name, bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
from messaging_pyx import Context, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
if __name__ == "__main__":
|
||||
c = Context()
|
||||
pub_sock = PubSocket()
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
for i in range(int(1e10)):
|
||||
print(i)
|
||||
sub_sock = SubSocket()
|
||||
sub_sock.connect(c, "controlsState")
|
||||
|
||||
pub_sock.send(b'a')
|
||||
print(sub_sock.receive())
|
||||
@@ -1,2 +0,0 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -1,142 +0,0 @@
|
||||
import unittest
|
||||
import time
|
||||
import cereal.messaging as messaging
|
||||
|
||||
import concurrent.futures
|
||||
|
||||
|
||||
def poller():
|
||||
context = messaging.Context()
|
||||
|
||||
p = messaging.Poller()
|
||||
|
||||
sub = messaging.SubSocket()
|
||||
sub.connect(context, 'controlsState')
|
||||
p.registerSocket(sub)
|
||||
|
||||
socks = p.poll(10000)
|
||||
r = [s.receive(non_blocking=True) for s in socks]
|
||||
|
||||
return r
|
||||
|
||||
|
||||
class TestPoller(unittest.TestCase):
|
||||
def test_poll_once(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
with concurrent.futures.ThreadPoolExecutor() as e:
|
||||
poll = e.submit(poller)
|
||||
|
||||
time.sleep(0.1) # Slow joiner syndrome
|
||||
|
||||
# Send message
|
||||
pub.send("a")
|
||||
|
||||
# Wait for poll result
|
||||
result = poll.result()
|
||||
|
||||
del pub
|
||||
context.term()
|
||||
|
||||
self.assertEqual(result, [b"a"])
|
||||
|
||||
def test_poll_and_create_many_subscribers(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
with concurrent.futures.ThreadPoolExecutor() as e:
|
||||
poll = e.submit(poller)
|
||||
|
||||
time.sleep(0.1) # Slow joiner syndrome
|
||||
c = messaging.Context()
|
||||
for _ in range(10):
|
||||
messaging.SubSocket().connect(c, 'controlsState')
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
# Send message
|
||||
pub.send("a")
|
||||
|
||||
# Wait for poll result
|
||||
result = poll.result()
|
||||
|
||||
del pub
|
||||
context.term()
|
||||
|
||||
self.assertEqual(result, [b"a"])
|
||||
|
||||
def test_multiple_publishers_exception(self):
|
||||
context = messaging.Context()
|
||||
|
||||
with self.assertRaises(messaging.MultiplePublishersError):
|
||||
pub1 = messaging.PubSocket()
|
||||
pub1.connect(context, 'controlsState')
|
||||
|
||||
pub2 = messaging.PubSocket()
|
||||
pub2.connect(context, 'controlsState')
|
||||
|
||||
pub1.send("a")
|
||||
|
||||
del pub1
|
||||
del pub2
|
||||
context.term()
|
||||
|
||||
def test_multiple_messages(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
sub = messaging.SubSocket()
|
||||
sub.connect(context, 'controlsState')
|
||||
|
||||
time.sleep(0.1) # Slow joiner
|
||||
|
||||
for i in range(100):
|
||||
pub.send(str(i))
|
||||
|
||||
msg_seen = False
|
||||
i = 0
|
||||
while True:
|
||||
r = sub.receive(non_blocking=True)
|
||||
|
||||
if r is not None:
|
||||
self.assertEqual(str(i), r.decode('utf8'))
|
||||
|
||||
msg_seen = True
|
||||
i += 1
|
||||
|
||||
if r is None and msg_seen: # ZMQ sometimes receives nothing on the first receive
|
||||
break
|
||||
|
||||
del pub
|
||||
del sub
|
||||
context.term()
|
||||
|
||||
def test_conflate(self):
|
||||
context = messaging.Context()
|
||||
|
||||
pub = messaging.PubSocket()
|
||||
pub.connect(context, 'controlsState')
|
||||
|
||||
sub = messaging.SubSocket()
|
||||
sub.connect(context, 'controlsState', conflate=True)
|
||||
|
||||
time.sleep(0.1) # Slow joiner
|
||||
pub.send('a')
|
||||
pub.send('b')
|
||||
|
||||
self.assertEqual(b'b', sub.receive())
|
||||
|
||||
del pub
|
||||
del sub
|
||||
context.term()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -30,7 +30,7 @@ androidLog: [8020, true, 0.]
|
||||
carState: [8021, true, 100., 10]
|
||||
# 8022 is reserved for sshd
|
||||
carControl: [8023, true, 100., 10]
|
||||
plan: [8024, true, 20.]
|
||||
plan: [8024, true, 20., 2]
|
||||
liveLocation: [8025, true, 0., 1]
|
||||
gpsLocation: [8026, true, 1., 1]
|
||||
ethernetData: [8027, true, 0.]
|
||||
@@ -57,19 +57,19 @@ orbslamCorrection: [8050, true, 0.]
|
||||
liveLocationCorrected: [8051, true, 0.]
|
||||
orbObservation: [8052, true, 0.]
|
||||
applanixLocation: [8053, true, 0.]
|
||||
liveLocationKalman: [8054, true, 0., 1]
|
||||
liveLocationKalman: [8054, true, 20., 2]
|
||||
uiNavigationEvent: [8055, true, 0.]
|
||||
orbOdometry: [8057, true, 0.]
|
||||
orbFeatures: [8058, false, 0.]
|
||||
orbKeyFrame: [8059, true, 0.]
|
||||
uiLayoutState: [8060, true, 0.]
|
||||
frontEncodeIdx: [8061, true, 5.]
|
||||
frontEncodeIdx: [8061, true, 5.] # should be 20fps on tici
|
||||
orbFeaturesSummary: [8062, true, 0.]
|
||||
driverState: [8063, true, 5., 1]
|
||||
liveParameters: [8064, true, 10.]
|
||||
liveParameters: [8064, true, 20., 2]
|
||||
liveMapData: [8065, true, 0.]
|
||||
cameraOdometry: [8066, true, 20., 5]
|
||||
pathPlan: [8067, true, 20.]
|
||||
pathPlan: [8067, true, 20., 2]
|
||||
kalmanOdometry: [8068, true, 0.]
|
||||
thumbnail: [8069, true, 0.2, 1]
|
||||
carEvents: [8070, true, 1., 1]
|
||||
@@ -77,6 +77,9 @@ carParams: [8071, true, 0.02, 1]
|
||||
frontFrame: [8072, true, 10.]
|
||||
dMonitoringState: [8073, true, 5., 1]
|
||||
offroadLayout: [8074, false, 0.]
|
||||
wideEncodeIdx: [8075, true, 20.]
|
||||
wideFrame: [8076, true, 20.]
|
||||
modelV2: [8077, true, 20., 20]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
@@ -113,7 +116,7 @@ testJoystick: [8056, false, 0.]
|
||||
|
||||
# **** stateful data transformers ****
|
||||
|
||||
# modeld -- runs & publishes the model
|
||||
# modeld -- runs & publishes the model
|
||||
# publishes: model, cameraOdometry
|
||||
# subscribes: liveCalibration, pathPlan
|
||||
|
||||
|
||||
+3
-2
@@ -2,6 +2,7 @@
|
||||
import os
|
||||
import yaml
|
||||
|
||||
|
||||
class Service():
|
||||
def __init__(self, port, should_log, frequency, decimation=None):
|
||||
self.port = port
|
||||
@@ -9,6 +10,7 @@ class Service():
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
|
||||
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
|
||||
|
||||
service_list = {}
|
||||
@@ -24,10 +26,9 @@ if __name__ == "__main__":
|
||||
print("/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT service_list.yaml */")
|
||||
print("#ifndef __SERVICES_H")
|
||||
print("#define __SERVICES_H")
|
||||
print("struct service { int port; bool should_log; int frequency; int decimation; char name[0x100]; };")
|
||||
print("struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };")
|
||||
print("static struct service services[] = {")
|
||||
for k, v in service_list.items():
|
||||
print(' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },' % (k, v.port, "true" if v.should_log else "false", v.frequency, -1 if v.decimation is None else v.decimation))
|
||||
print("};")
|
||||
print("#endif")
|
||||
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
comment: false
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
default:
|
||||
informational: true
|
||||
patch: off
|
||||
|
||||
+3
-5
@@ -1,6 +1,4 @@
|
||||
Import('env')
|
||||
Import('envCython')
|
||||
|
||||
# parser
|
||||
env.Command(['common_pyx.so'],
|
||||
['common_pyx_setup.py', 'clock.pyx'],
|
||||
"cd common && python3 common_pyx_setup.py build_ext --inplace")
|
||||
envCython.Program('clock.so', 'clock.pyx')
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx')
|
||||
|
||||
@@ -1,282 +0,0 @@
|
||||
import os
|
||||
import binascii
|
||||
import itertools
|
||||
import re
|
||||
import struct
|
||||
import subprocess
|
||||
import random
|
||||
from cereal import log
|
||||
|
||||
NetworkType = log.ThermalData.NetworkType
|
||||
NetworkStrength = log.ThermalData.NetworkStrength
|
||||
|
||||
ANDROID = os.path.isfile('/EON')
|
||||
|
||||
def getprop(key):
|
||||
if not ANDROID:
|
||||
return ""
|
||||
return subprocess.check_output(["getprop", key], encoding='utf8').strip()
|
||||
|
||||
def get_imei(slot):
|
||||
slot = str(slot)
|
||||
if slot not in ("0", "1"):
|
||||
raise ValueError("SIM slot must be 0 or 1")
|
||||
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "3" , "i32", str(slot)]))
|
||||
if not ret:
|
||||
# allow non android to be identified differently
|
||||
ret = "%015d" % random.randint(0, 1 << 32)
|
||||
return ret
|
||||
|
||||
def get_serial():
|
||||
ret = getprop("ro.serialno")
|
||||
if ret == "":
|
||||
ret = "cccccccc"
|
||||
return ret
|
||||
|
||||
def get_subscriber_info():
|
||||
ret = parse_service_call_string(service_call(["iphonesubinfo", "7"]))
|
||||
if ret is None or len(ret) < 8:
|
||||
return ""
|
||||
return ret
|
||||
|
||||
def reboot(reason=None):
|
||||
if reason is None:
|
||||
reason_args = ["null"]
|
||||
else:
|
||||
reason_args = ["s16", reason]
|
||||
|
||||
subprocess.check_output([
|
||||
"service", "call", "power", "16", # IPowerManager.reboot
|
||||
"i32", "0", # no confirmation,
|
||||
*reason_args,
|
||||
"i32", "1" # wait
|
||||
])
|
||||
|
||||
def service_call(call):
|
||||
if not ANDROID:
|
||||
return None
|
||||
|
||||
ret = subprocess.check_output(["service", "call", *call], encoding='utf8').strip()
|
||||
if 'Parcel' not in ret:
|
||||
return None
|
||||
|
||||
return parse_service_call_bytes(ret)
|
||||
|
||||
def parse_service_call_unpack(r, fmt):
|
||||
try:
|
||||
return struct.unpack(fmt, r)[0]
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_string(r):
|
||||
try:
|
||||
r = r[8:] # Cut off length field
|
||||
r = r.decode('utf_16_be')
|
||||
|
||||
# All pairs of two characters seem to be swapped. Not sure why
|
||||
result = ""
|
||||
for a, b, in itertools.zip_longest(r[::2], r[1::2], fillvalue='\x00'):
|
||||
result += b + a
|
||||
|
||||
result = result.replace('\x00', '')
|
||||
|
||||
return result
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def parse_service_call_bytes(ret):
|
||||
try:
|
||||
r = b""
|
||||
for hex_part in re.findall(r'[ (]([0-9a-f]{8})', ret):
|
||||
r += binascii.unhexlify(hex_part)
|
||||
return r
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
def get_network_type():
|
||||
if not ANDROID:
|
||||
return NetworkType.none
|
||||
|
||||
wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
|
||||
if wifi_check is None:
|
||||
return NetworkType.none
|
||||
elif 'WIFI' in wifi_check:
|
||||
return NetworkType.wifi
|
||||
else:
|
||||
cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
|
||||
# from TelephonyManager.java
|
||||
cell_networks = {
|
||||
0: NetworkType.none,
|
||||
1: NetworkType.cell2G,
|
||||
2: NetworkType.cell2G,
|
||||
3: NetworkType.cell3G,
|
||||
4: NetworkType.cell2G,
|
||||
5: NetworkType.cell3G,
|
||||
6: NetworkType.cell3G,
|
||||
7: NetworkType.cell3G,
|
||||
8: NetworkType.cell3G,
|
||||
9: NetworkType.cell3G,
|
||||
10: NetworkType.cell3G,
|
||||
11: NetworkType.cell2G,
|
||||
12: NetworkType.cell3G,
|
||||
13: NetworkType.cell4G,
|
||||
14: NetworkType.cell4G,
|
||||
15: NetworkType.cell3G,
|
||||
16: NetworkType.cell2G,
|
||||
17: NetworkType.cell3G,
|
||||
18: NetworkType.cell4G,
|
||||
19: NetworkType.cell4G
|
||||
}
|
||||
return cell_networks.get(cell_check, NetworkType.none)
|
||||
|
||||
def get_network_strength(network_type):
|
||||
network_strength = NetworkStrength.unknown
|
||||
|
||||
# from SignalStrength.java
|
||||
def get_lte_level(rsrp, rssnr):
|
||||
INT_MAX = 2147483647
|
||||
if rsrp == INT_MAX:
|
||||
lvl_rsrp = NetworkStrength.unknown
|
||||
elif rsrp >= -95:
|
||||
lvl_rsrp = NetworkStrength.great
|
||||
elif rsrp >= -105:
|
||||
lvl_rsrp = NetworkStrength.good
|
||||
elif rsrp >= -115:
|
||||
lvl_rsrp = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rsrp = NetworkStrength.poor
|
||||
if rssnr == INT_MAX:
|
||||
lvl_rssnr = NetworkStrength.unknown
|
||||
elif rssnr >= 45:
|
||||
lvl_rssnr = NetworkStrength.great
|
||||
elif rssnr >= 10:
|
||||
lvl_rssnr = NetworkStrength.good
|
||||
elif rssnr >= -30:
|
||||
lvl_rssnr = NetworkStrength.moderate
|
||||
else:
|
||||
lvl_rssnr = NetworkStrength.poor
|
||||
return max(lvl_rsrp, lvl_rssnr)
|
||||
|
||||
def get_tdscdma_level(tdscmadbm):
|
||||
lvl = NetworkStrength.unknown
|
||||
if tdscmadbm > -25:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif tdscmadbm >= -49:
|
||||
lvl = NetworkStrength.great
|
||||
elif tdscmadbm >= -73:
|
||||
lvl = NetworkStrength.good
|
||||
elif tdscmadbm >= -97:
|
||||
lvl = NetworkStrength.moderate
|
||||
elif tdscmadbm >= -110:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_gsm_level(asu):
|
||||
if asu <= 2 or asu == 99:
|
||||
lvl = NetworkStrength.unknown
|
||||
elif asu >= 12:
|
||||
lvl = NetworkStrength.great
|
||||
elif asu >= 8:
|
||||
lvl = NetworkStrength.good
|
||||
elif asu >= 5:
|
||||
lvl = NetworkStrength.moderate
|
||||
else:
|
||||
lvl = NetworkStrength.poor
|
||||
return lvl
|
||||
|
||||
def get_evdo_level(evdodbm, evdosnr):
|
||||
lvl_evdodbm = NetworkStrength.unknown
|
||||
lvl_evdosnr = NetworkStrength.unknown
|
||||
if evdodbm >= -65:
|
||||
lvl_evdodbm = NetworkStrength.great
|
||||
elif evdodbm >= -75:
|
||||
lvl_evdodbm = NetworkStrength.good
|
||||
elif evdodbm >= -90:
|
||||
lvl_evdodbm = NetworkStrength.moderate
|
||||
elif evdodbm >= -105:
|
||||
lvl_evdodbm = NetworkStrength.poor
|
||||
if evdosnr >= 7:
|
||||
lvl_evdosnr = NetworkStrength.great
|
||||
elif evdosnr >= 5:
|
||||
lvl_evdosnr = NetworkStrength.good
|
||||
elif evdosnr >= 3:
|
||||
lvl_evdosnr = NetworkStrength.moderate
|
||||
elif evdosnr >= 1:
|
||||
lvl_evdosnr = NetworkStrength.poor
|
||||
return max(lvl_evdodbm, lvl_evdosnr)
|
||||
|
||||
def get_cdma_level(cdmadbm, cdmaecio):
|
||||
lvl_cdmadbm = NetworkStrength.unknown
|
||||
lvl_cdmaecio = NetworkStrength.unknown
|
||||
if cdmadbm >= -75:
|
||||
lvl_cdmadbm = NetworkStrength.great
|
||||
elif cdmadbm >= -85:
|
||||
lvl_cdmadbm = NetworkStrength.good
|
||||
elif cdmadbm >= -95:
|
||||
lvl_cdmadbm = NetworkStrength.moderate
|
||||
elif cdmadbm >= -100:
|
||||
lvl_cdmadbm = NetworkStrength.poor
|
||||
if cdmaecio >= -90:
|
||||
lvl_cdmaecio = NetworkStrength.great
|
||||
elif cdmaecio >= -110:
|
||||
lvl_cdmaecio = NetworkStrength.good
|
||||
elif cdmaecio >= -130:
|
||||
lvl_cdmaecio = NetworkStrength.moderate
|
||||
elif cdmaecio >= -150:
|
||||
lvl_cdmaecio = NetworkStrength.poor
|
||||
return max(lvl_cdmadbm, lvl_cdmaecio)
|
||||
|
||||
if network_type == NetworkType.none:
|
||||
return network_strength
|
||||
if network_type == NetworkType.wifi:
|
||||
out = subprocess.check_output('dumpsys connectivity', shell=True).decode('utf-8')
|
||||
network_strength = NetworkStrength.unknown
|
||||
for line in out.split('\n'):
|
||||
signal_str = "SignalStrength: "
|
||||
if signal_str in line:
|
||||
lvl_idx_start = line.find(signal_str) + len(signal_str)
|
||||
lvl_idx_end = line.find(']', lvl_idx_start)
|
||||
lvl = int(line[lvl_idx_start : lvl_idx_end])
|
||||
if lvl >= -50:
|
||||
network_strength = NetworkStrength.great
|
||||
elif lvl >= -60:
|
||||
network_strength = NetworkStrength.good
|
||||
elif lvl >= -70:
|
||||
network_strength = NetworkStrength.moderate
|
||||
else:
|
||||
network_strength = NetworkStrength.poor
|
||||
return network_strength
|
||||
else:
|
||||
# check cell strength
|
||||
out = subprocess.check_output('dumpsys telephony.registry', shell=True).decode('utf-8')
|
||||
for line in out.split('\n'):
|
||||
if "mSignalStrength" in line:
|
||||
arr = line.split(' ')
|
||||
ns = 0
|
||||
if ("gsm" in arr[14]):
|
||||
rsrp = int(arr[9])
|
||||
rssnr = int(arr[11])
|
||||
ns = get_lte_level(rsrp, rssnr)
|
||||
if ns == NetworkStrength.unknown:
|
||||
tdscmadbm = int(arr[13])
|
||||
ns = get_tdscdma_level(tdscmadbm)
|
||||
if ns == NetworkStrength.unknown:
|
||||
asu = int(arr[1])
|
||||
ns = get_gsm_level(asu)
|
||||
else:
|
||||
cdmadbm = int(arr[3])
|
||||
cdmaecio = int(arr[4])
|
||||
evdodbm = int(arr[5])
|
||||
evdosnr = int(arr[7])
|
||||
lvl_cdma = get_cdma_level(cdmadbm, cdmaecio)
|
||||
lvl_edmo = get_evdo_level(evdodbm, evdosnr)
|
||||
if lvl_edmo == NetworkStrength.unknown:
|
||||
ns = lvl_cdma
|
||||
elif lvl_cdma == NetworkStrength.unknown:
|
||||
ns = lvl_edmo
|
||||
else:
|
||||
ns = min(lvl_cdma, lvl_edmo)
|
||||
network_strength = max(network_strength, ns)
|
||||
|
||||
return network_strength
|
||||
@@ -38,4 +38,4 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
||||
+4
-6
@@ -1,10 +1,8 @@
|
||||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
from common.android import ANDROID
|
||||
if ANDROID:
|
||||
PERSIST = "/persist"
|
||||
PARAMS = "/data/params"
|
||||
else:
|
||||
from selfdrive.hardware import PC
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PARAMS = os.path.join(BASEDIR, "persist", "params")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
from distutils.core import Extension, setup # pylint: disable=import-error,no-name-in-module
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
sourcefiles = ['clock.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
|
||||
setup(name='Common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"common_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
extra_compile_args=extra_compile_args,
|
||||
)
|
||||
),
|
||||
nthreads=4,
|
||||
)
|
||||
@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
+14
-3
@@ -3,13 +3,17 @@ import shutil
|
||||
import tempfile
|
||||
from atomicwrites import AtomicWriter
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
if path.startswith('http://') or path.startswith('https://'):
|
||||
raise ValueError('URL path')
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_not_exists_ok(path):
|
||||
try:
|
||||
os.remove(path)
|
||||
@@ -17,12 +21,14 @@ def rm_not_exists_ok(path):
|
||||
if os.path.exists(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_tree_or_link(path):
|
||||
if os.path.islink(path):
|
||||
os.unlink(path)
|
||||
elif os.path.isdir(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
@@ -32,6 +38,7 @@ def get_tmpdir_on_same_filesystem(path):
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
return "/tmp"
|
||||
|
||||
|
||||
class AutoMoveTempdir():
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
@@ -47,12 +54,13 @@ class AutoMoveTempdir():
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
if type is None:
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
if exc_type is None:
|
||||
self.close()
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
@@ -67,9 +75,10 @@ class NamedTemporaryDir():
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
file_obj = writer.get_fileobject(dir=temp_dir)
|
||||
@@ -77,6 +86,7 @@ def _get_fileobject_func(writer, temp_dir):
|
||||
return file_obj
|
||||
return _get_fileobject
|
||||
|
||||
|
||||
def atomic_write_on_fs_tmp(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in a temporary directory
|
||||
on the same filesystem as path.
|
||||
@@ -94,6 +104,7 @@ def atomic_write_in_dir(path, **kwargs):
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir_neos(path, contents, mode=None):
|
||||
"""
|
||||
Atomically writes contents to path using a temporary file in the same directory
|
||||
|
||||
@@ -0,0 +1,14 @@
|
||||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
|
||||
def gpio_set(pin, high):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
@@ -1,6 +1,3 @@
|
||||
Import('env')
|
||||
|
||||
env.Command(['simple_kalman_impl.so'],
|
||||
['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
|
||||
"cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
|
||||
|
||||
@@ -1,3 +1,5 @@
|
||||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
@@ -13,4 +15,4 @@ cdef class KF1D:
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
double A_K_3
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
|
||||
@@ -8,7 +8,7 @@ class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = C
|
||||
self.C = np.atleast_2d(C)
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
@@ -1,9 +0,0 @@
|
||||
from distutils.core import Extension, setup
|
||||
|
||||
from Cython.Build import cythonize
|
||||
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
|
||||
setup(name='Simple Kalman Implementation',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
|
||||
@@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
|
||||
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.matrix([C0_0, C0_1]),
|
||||
K=np.matrix([[K0_0], [K1_0]]))
|
||||
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
self.kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
@@ -47,9 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
|
||||
x = self.kf.update(v_wheel)
|
||||
|
||||
# Compare the output x, verify that the error is less than 1e-4
|
||||
self.assertAlmostEqual(x_old[0], x[0])
|
||||
self.assertAlmostEqual(x_old[1], x[1])
|
||||
|
||||
np.testing.assert_almost_equal(x_old[0], x[0])
|
||||
np.testing.assert_almost_equal(x_old[1], x[1])
|
||||
|
||||
def test_new_is_faster(self):
|
||||
setup = """
|
||||
@@ -70,10 +69,10 @@ C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
|
||||
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.matrix([C0_0, C0_1]),
|
||||
K=np.matrix([[K0_0], [K1_0]]))
|
||||
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
@@ -83,3 +82,6 @@ kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
|
||||
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
|
||||
self.assertTrue(kf_speed < kf_old_speed / 4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@@ -115,9 +115,6 @@ class SwagLogger(logging.Logger):
|
||||
if args:
|
||||
evt['args'] = args
|
||||
evt.update(kwargs)
|
||||
ctx = self.get_ctx()
|
||||
if ctx:
|
||||
evt['ctx'] = self.get_ctx()
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
else:
|
||||
@@ -143,7 +140,9 @@ class SwagLogger(logging.Logger):
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
if filename == _srcfile:
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
|
||||
@@ -1,50 +0,0 @@
|
||||
def cputime_total(ct):
|
||||
return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
|
||||
|
||||
|
||||
def print_cpu_usage(first_proc, last_proc):
|
||||
r = 0
|
||||
procs = [
|
||||
("selfdrive.controls.controlsd", 59.46),
|
||||
("./_modeld", 6.75),
|
||||
("./loggerd", 28.49),
|
||||
("selfdrive.controls.plannerd", 19.77),
|
||||
("selfdrive.controls.radard", 9.54),
|
||||
("./_ui", 9.54),
|
||||
("./camerad", 7.07),
|
||||
("selfdrive.locationd.locationd", 27.46),
|
||||
("./_sensord", 6.17),
|
||||
("selfdrive.controls.dmonitoringd", 5.48),
|
||||
("./boardd", 3.63),
|
||||
("./_dmonitoringmodeld", 2.67),
|
||||
("selfdrive.logmessaged", 2.71),
|
||||
("selfdrive.thermald", 2.41),
|
||||
("./paramsd", 2.18),
|
||||
("selfdrive.locationd.calibrationd", 1.76),
|
||||
("./proclogd", 1.54),
|
||||
("./_gpsd", 0.09),
|
||||
("./clocksd", 0.02),
|
||||
("./ubloxd", 0.02),
|
||||
("selfdrive.tombstoned", 0),
|
||||
("./logcatd", 0),
|
||||
("selfdrive.updated", 0),
|
||||
]
|
||||
|
||||
dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
|
||||
print("------------------------------------------------")
|
||||
for proc_name, normal_cpu_usage in procs:
|
||||
try:
|
||||
first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
|
||||
last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0]
|
||||
cpu_time = cputime_total(last) - cputime_total(first)
|
||||
cpu_usage = cpu_time / dt * 100.
|
||||
if cpu_usage > max(normal_cpu_usage * 1.1, normal_cpu_usage + 5.0):
|
||||
print(f"Warning {proc_name} using more CPU than normal")
|
||||
r = 1
|
||||
|
||||
print(f"{proc_name.ljust(35)} {cpu_usage:.2f}%")
|
||||
except IndexError:
|
||||
print(f"{proc_name.ljust(35)} NO METRICS FOUND")
|
||||
print("------------------------------------------------")
|
||||
|
||||
return r
|
||||
Executable → Regular
+4
-401
@@ -1,401 +1,4 @@
|
||||
#!/usr/bin/env python3
|
||||
"""ROS has a parameter server, we have files.
|
||||
|
||||
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
|
||||
On Android, we store params under params_dir = /data/params. The writer lock is a file
|
||||
"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
|
||||
"<params_dir>/d".
|
||||
|
||||
Each key, value pair is stored as a file with named <key> with contents <value>, located in
|
||||
<params_dir>/d/<key>
|
||||
|
||||
Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
|
||||
Readers who want a consistent snapshot of multiple keys should take the lock.
|
||||
|
||||
Writers should take the lock before modifying anything. Writers should also leave the DB in a
|
||||
consistent state after a crash. The implementation below does this by copying all params to a temp
|
||||
directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
|
||||
before deleting the old <params_dir>/<d> directory.
|
||||
|
||||
Writers that only modify a single key can simply take the lock, then swap the corresponding value
|
||||
file in place without messing with <params_dir>/d.
|
||||
"""
|
||||
import time
|
||||
import os
|
||||
import errno
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
import threading
|
||||
from enum import Enum
|
||||
from common.basedir import PARAMS
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
class TxType(Enum):
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
|
||||
keys = {
|
||||
"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"AthenadPid": [TxType.PERSISTENT],
|
||||
"CalibrationParams": [TxType.PERSISTENT],
|
||||
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
"ControlsParams": [TxType.PERSISTENT],
|
||||
"DisablePowerDown": [TxType.PERSISTENT],
|
||||
"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DongleId": [TxType.PERSISTENT],
|
||||
"GitBranch": [TxType.PERSISTENT],
|
||||
"GitCommit": [TxType.PERSISTENT],
|
||||
"GitRemote": [TxType.PERSISTENT],
|
||||
"GithubSshKeys": [TxType.PERSISTENT],
|
||||
"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
"IsGeofenceEnabled": [TxType.PERSISTENT],
|
||||
"IsMetric": [TxType.PERSISTENT],
|
||||
"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsRHD": [TxType.PERSISTENT],
|
||||
"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
"LastUpdateTime": [TxType.PERSISTENT],
|
||||
"LimitSetSpeed": [TxType.PERSISTENT],
|
||||
"LimitSetSpeedNeural": [TxType.PERSISTENT],
|
||||
"LiveParameters": [TxType.PERSISTENT],
|
||||
"LongitudinalControl": [TxType.PERSISTENT],
|
||||
"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Passive": [TxType.PERSISTENT],
|
||||
"RecordFront": [TxType.PERSISTENT],
|
||||
"ReleaseNotes": [TxType.PERSISTENT],
|
||||
"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"SpeedLimitOffset": [TxType.PERSISTENT],
|
||||
"SubscriberInfo": [TxType.PERSISTENT],
|
||||
"TermsVersion": [TxType.PERSISTENT],
|
||||
"TrainingVersion": [TxType.PERSISTENT],
|
||||
"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Version": [TxType.PERSISTENT],
|
||||
"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
|
||||
def fsync_dir(path):
|
||||
fd = os.open(path, os.O_RDONLY)
|
||||
try:
|
||||
os.fsync(fd)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
|
||||
class FileLock():
|
||||
def __init__(self, path, create):
|
||||
self._path = path
|
||||
self._create = create
|
||||
self._fd = None
|
||||
|
||||
def acquire(self):
|
||||
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX)
|
||||
|
||||
def release(self):
|
||||
if self._fd is not None:
|
||||
os.close(self._fd)
|
||||
self._fd = None
|
||||
|
||||
|
||||
class DBAccessor():
|
||||
def __init__(self, path):
|
||||
self._path = path
|
||||
self._vals = None
|
||||
|
||||
def keys(self):
|
||||
self._check_entered()
|
||||
return self._vals.keys()
|
||||
|
||||
def get(self, key):
|
||||
self._check_entered()
|
||||
try:
|
||||
return self._vals[key]
|
||||
except KeyError:
|
||||
return None
|
||||
|
||||
def _get_lock(self, create):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create)
|
||||
lock.acquire()
|
||||
return lock
|
||||
|
||||
def _read_values_locked(self):
|
||||
"""Callers should hold a lock while calling this method."""
|
||||
vals = {}
|
||||
try:
|
||||
data_path = self._data_path()
|
||||
keys = os.listdir(data_path)
|
||||
for key in keys:
|
||||
with open(os.path.join(data_path, key), "rb") as f:
|
||||
vals[key] = f.read()
|
||||
except (OSError, IOError) as e:
|
||||
# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
|
||||
# inconsistent state. Either way, return empty.
|
||||
if e.errno == errno.ENOENT:
|
||||
return {}
|
||||
|
||||
return vals
|
||||
|
||||
def _data_path(self):
|
||||
return os.path.join(self._path, "d")
|
||||
|
||||
def _check_entered(self):
|
||||
if self._vals is None:
|
||||
raise Exception("Must call __enter__ before using DB")
|
||||
|
||||
|
||||
class DBReader(DBAccessor):
|
||||
def __enter__(self):
|
||||
try:
|
||||
lock = self._get_lock(False)
|
||||
except OSError as e:
|
||||
# Do not create lock if it does not exist.
|
||||
if e.errno == errno.ENOENT:
|
||||
self._vals = {}
|
||||
return self
|
||||
|
||||
try:
|
||||
# Read everything.
|
||||
self._vals = self._read_values_locked()
|
||||
return self
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
class DBWriter(DBAccessor):
|
||||
def __init__(self, path):
|
||||
super(DBWriter, self).__init__(path)
|
||||
self._lock = None
|
||||
self._prev_umask = None
|
||||
|
||||
def put(self, key, value):
|
||||
self._vals[key] = value
|
||||
|
||||
def delete(self, key):
|
||||
self._vals.pop(key, None)
|
||||
|
||||
def __enter__(self):
|
||||
mkdirs_exists_ok(self._path)
|
||||
|
||||
# Make sure we can write and that permissions are correct.
|
||||
self._prev_umask = os.umask(0)
|
||||
|
||||
try:
|
||||
os.chmod(self._path, 0o777)
|
||||
self._lock = self._get_lock(True)
|
||||
self._vals = self._read_values_locked()
|
||||
except:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
raise
|
||||
|
||||
return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
self._check_entered()
|
||||
|
||||
try:
|
||||
# data_path refers to the externally used path to the params. It is a symlink.
|
||||
# old_data_path is the path currently pointed to by data_path.
|
||||
# tempdir_path is a path where the new params will go, which the new data path will point to.
|
||||
# new_data_path is a temporary symlink that will atomically overwrite data_path.
|
||||
#
|
||||
# The current situation is:
|
||||
# data_path -> old_data_path
|
||||
# We're going to write params data to tempdir_path
|
||||
# tempdir_path -> params data
|
||||
# Then point new_data_path to tempdir_path
|
||||
# new_data_path -> tempdir_path
|
||||
# Then atomically overwrite data_path with new_data_path
|
||||
# data_path -> tempdir_path
|
||||
old_data_path = None
|
||||
new_data_path = None
|
||||
tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
|
||||
|
||||
try:
|
||||
# Write back all keys.
|
||||
os.chmod(tempdir_path, 0o777)
|
||||
for k, v in self._vals.items():
|
||||
with open(os.path.join(tempdir_path, k), "wb") as f:
|
||||
f.write(v)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
fsync_dir(tempdir_path)
|
||||
|
||||
data_path = self._data_path()
|
||||
try:
|
||||
old_data_path = os.path.join(self._path, os.readlink(data_path))
|
||||
except (OSError, IOError):
|
||||
# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
|
||||
# copies to be left behind, but we still want to overwrite.
|
||||
pass
|
||||
|
||||
new_data_path = "{}.link".format(tempdir_path)
|
||||
os.symlink(os.path.basename(tempdir_path), new_data_path)
|
||||
os.rename(new_data_path, data_path)
|
||||
fsync_dir(self._path)
|
||||
finally:
|
||||
# If the rename worked, we can delete the old data. Otherwise delete the new one.
|
||||
success = new_data_path is not None and os.path.exists(data_path) and (
|
||||
os.readlink(data_path) == os.path.basename(tempdir_path))
|
||||
|
||||
if success:
|
||||
if old_data_path is not None:
|
||||
shutil.rmtree(old_data_path)
|
||||
else:
|
||||
shutil.rmtree(tempdir_path)
|
||||
|
||||
# Regardless of what happened above, there should be no link at new_data_path.
|
||||
if new_data_path is not None and os.path.islink(new_data_path):
|
||||
os.remove(new_data_path)
|
||||
finally:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
|
||||
# Always release the lock.
|
||||
self._lock.release()
|
||||
self._lock = None
|
||||
|
||||
|
||||
def read_db(params_path, key):
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
try:
|
||||
with open(path, "rb") as f:
|
||||
return f.read()
|
||||
except IOError:
|
||||
return None
|
||||
|
||||
def write_db(params_path, key, value):
|
||||
if isinstance(value, str):
|
||||
value = value.encode('utf8')
|
||||
|
||||
prev_umask = os.umask(0)
|
||||
lock = FileLock(params_path+"/.lock", True)
|
||||
lock.acquire()
|
||||
|
||||
try:
|
||||
tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
|
||||
with open(tmp_path, "wb") as f:
|
||||
f.write(value)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
|
||||
path = "%s/d/%s" % (params_path, key)
|
||||
os.rename(tmp_path, path)
|
||||
fsync_dir(os.path.dirname(path))
|
||||
finally:
|
||||
os.umask(prev_umask)
|
||||
lock.release()
|
||||
|
||||
class Params():
|
||||
def __init__(self, db=PARAMS):
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
if not os.path.exists(self.db+"/d"):
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def clear_all(self):
|
||||
shutil.rmtree(self.db, ignore_errors=True)
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
else:
|
||||
return DBReader(self.db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.transaction(write=True) as txn:
|
||||
for key in keys:
|
||||
if tx_type in keys[key]:
|
||||
txn.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def delete(self, key):
|
||||
with self.transaction(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
ret = read_db(self.db, key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
|
||||
if ret is not None and encoding is not None:
|
||||
ret = ret.decode(encoding)
|
||||
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
|
||||
def put_nonblocking(key, val):
|
||||
def f(key, val):
|
||||
params = Params()
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.c":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
int delete_db_value(string)
|
||||
int write_db_value(string, string)
|
||||
Executable
+161
@@ -0,0 +1,161 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
cdef enum TxType:
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
keys = {
|
||||
b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"AthenadPid": [TxType.PERSISTENT],
|
||||
b"CalibrationParams": [TxType.PERSISTENT],
|
||||
b"CarBatteryCapacity": [TxType.PERSISTENT],
|
||||
b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
b"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
b"DisablePowerDown": [TxType.PERSISTENT],
|
||||
b"DisableUpdates": [TxType.PERSISTENT],
|
||||
b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"DongleId": [TxType.PERSISTENT],
|
||||
b"GitBranch": [TxType.PERSISTENT],
|
||||
b"GitCommit": [TxType.PERSISTENT],
|
||||
b"GitRemote": [TxType.PERSISTENT],
|
||||
b"GithubSshKeys": [TxType.PERSISTENT],
|
||||
b"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
b"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
b"IsMetric": [TxType.PERSISTENT],
|
||||
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsRHD": [TxType.PERSISTENT],
|
||||
b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
b"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateException": [TxType.PERSISTENT],
|
||||
b"LiveParameters": [TxType.PERSISTENT],
|
||||
b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
b"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Passive": [TxType.PERSISTENT],
|
||||
b"RecordFront": [TxType.PERSISTENT],
|
||||
b"ReleaseNotes": [TxType.PERSISTENT],
|
||||
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"SubscriberInfo": [TxType.PERSISTENT],
|
||||
b"TermsVersion": [TxType.PERSISTENT],
|
||||
b"TrainingVersion": [TxType.PERSISTENT],
|
||||
b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Version": [TxType.PERSISTENT],
|
||||
b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
if d is None:
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
for key in keys:
|
||||
if tx_type is None or tx_type in keys[key]:
|
||||
self.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self.clear_all(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
cdef string k = key
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
key = ensure_bytes(key)
|
||||
dat = ensure_bytes(dat)
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
self.p.write_db_value(key, dat)
|
||||
|
||||
def delete(self, key):
|
||||
key = ensure_bytes(key)
|
||||
self.p.delete_db_value(key)
|
||||
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
+3
-3
@@ -36,10 +36,10 @@ class Profiler():
|
||||
if not self.enabled:
|
||||
return
|
||||
self.iter += 1
|
||||
print("******* Profiling *******")
|
||||
print("******* Profiling %d *******" % self.iter)
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print("%30s: %9.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
else:
|
||||
print("%30s: %9.2f percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
|
||||
|
||||
+30
-19
@@ -1,39 +1,50 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
import platform
|
||||
import subprocess
|
||||
import multiprocessing
|
||||
from cffi import FFI
|
||||
|
||||
from common.common_pyx import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
# driver monitoring
|
||||
if TICI:
|
||||
DT_DMON = 0.05
|
||||
else:
|
||||
DT_DMON = 0.1
|
||||
|
||||
ffi = FFI()
|
||||
ffi.cdef("long syscall(long number, ...);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
class Priority:
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
if os.getuid() != 0:
|
||||
print("not setting priority, not root")
|
||||
return
|
||||
if platform.machine() == "x86_64":
|
||||
NR_gettid = 186
|
||||
elif platform.machine() == "aarch64":
|
||||
NR_gettid = 178
|
||||
else:
|
||||
raise NotImplementedError
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
tid = libc.syscall(NR_gettid)
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
|
||||
|
||||
def set_core_affinity(core):
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
|
||||
def config_realtime_process(core, priority):
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper():
|
||||
|
||||
+2
-19
@@ -8,7 +8,7 @@ class Spinner():
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
@@ -36,27 +36,10 @@ class Spinner():
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeSpinner(Spinner):
|
||||
def __init__(self):
|
||||
pass
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
import os
|
||||
from nose.tools import nottest
|
||||
|
||||
def phone_only(x):
|
||||
if os.path.isfile("/init.qcom.rc"):
|
||||
return x
|
||||
else:
|
||||
return nottest(x)
|
||||
+10
-33
@@ -5,12 +5,12 @@ import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow():
|
||||
def __init__(self, s):
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", s],
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
@@ -19,7 +19,6 @@ class TextWindow():
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
@@ -31,41 +30,19 @@ class TextWindow():
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
class FakeTextWindow(TextWindow):
|
||||
def __init__(self, s):
|
||||
pass
|
||||
|
||||
def get_status(self):
|
||||
return 1
|
||||
|
||||
def wait_for_exit(self):
|
||||
return
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, _):
|
||||
pass
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
pass
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
|
||||
@@ -0,0 +1,3 @@
|
||||
Import('envCython')
|
||||
|
||||
envCython.Program('transformations.so', 'transformations.pyx')
|
||||
@@ -1,29 +1,67 @@
|
||||
import numpy as np
|
||||
import common.transformations.orientation as orient
|
||||
|
||||
FULL_FRAME_SIZE = (1164, 874)
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
eon_focal_length = FOCAL = 910.0
|
||||
import common.transformations.orientation as orient
|
||||
from selfdrive.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 860.0
|
||||
leon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (1152, 864)
|
||||
leon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_intrinsics = np.array([
|
||||
[FOCAL, 0., W/2.],
|
||||
[ 0., FOCAL, H/2.],
|
||||
[ 0., 0., 1.]])
|
||||
|
||||
eon_fcam_intrinsics = np.array([
|
||||
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
|
||||
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
|
||||
leon_dcam_intrinsics = np.array([
|
||||
[650, 0, 816//2],
|
||||
[ 0, 650, 612//2],
|
||||
[ 0, 0, 1]])
|
||||
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
|
||||
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[860, 0, 1152//2],
|
||||
[ 0, 860, 864//2],
|
||||
[ 0, 0, 1]])
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_fcam_intrinsics = np.array([
|
||||
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
|
||||
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_dcam_intrinsics = np.array([
|
||||
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
|
||||
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_ecam_intrinsics = tici_dcam_intrinsics
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
|
||||
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
|
||||
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
|
||||
|
||||
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
|
||||
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
|
||||
|
||||
|
||||
if not TICI:
|
||||
FULL_FRAME_SIZE = eon_f_frame_size
|
||||
FOCAL = eon_f_focal_length
|
||||
fcam_intrinsics = eon_fcam_intrinsics
|
||||
else:
|
||||
FULL_FRAME_SIZE = tici_f_frame_size
|
||||
FOCAL = tici_f_focal_length
|
||||
fcam_intrinsics = tici_fcam_intrinsics
|
||||
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
@@ -52,6 +90,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
|
||||
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
|
||||
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
|
||||
return np.hstack((view_from_calib, [[0], [height], [0]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
@@ -62,9 +107,9 @@ def vp_from_ke(m):
|
||||
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
|
||||
|
||||
|
||||
def vp_from_rpy(rpy):
|
||||
def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
|
||||
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
|
||||
ke = np.dot(eon_intrinsics, e)
|
||||
ke = np.dot(intrinsics, e)
|
||||
return vp_from_ke(ke)
|
||||
|
||||
|
||||
@@ -74,7 +119,7 @@ def roll_from_ke(m):
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
|
||||
def normalize(img_pts, intrinsics=eon_intrinsics):
|
||||
def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
intrinsics_inv = np.linalg.inv(intrinsics)
|
||||
@@ -87,7 +132,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
|
||||
return img_pts_normalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def denormalize(img_pts, intrinsics=eon_intrinsics):
|
||||
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=W, height=H):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
@@ -95,9 +140,9 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts_denormalized = img_pts.dot(intrinsics.T)
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > W] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > H] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
|
||||
return img_pts_denormalized[:, :2].reshape(input_shape)
|
||||
|
||||
@@ -130,18 +175,10 @@ def img_from_device(pt_device):
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
|
||||
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
|
||||
calib_frame_from_ground = np.dot(eon_intrinsics,
|
||||
calib_frame_from_ground = np.dot(intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
|
||||
ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
|
||||
camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
|
||||
return camera_frame_from_calib_frame
|
||||
|
||||
|
||||
def pretransform_from_calib(calib):
|
||||
roll, pitch, yaw, height = calib
|
||||
view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
|
||||
camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
|
||||
camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
|
||||
return np.linalg.inv(camera_frame_from_calib_frame)
|
||||
|
||||
@@ -0,0 +1,104 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#include "coordinates.hpp"
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
|
||||
double a = 6378137; // lgtm [cpp/short-global-name]
|
||||
double b = 6356752.3142; // lgtm [cpp/short-global-name]
|
||||
double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
|
||||
double e1sq = 6.73949674228 * 0.001;
|
||||
|
||||
|
||||
static Geodetic to_degrees(Geodetic geodetic){
|
||||
geodetic.lat = RAD2DEG(geodetic.lat);
|
||||
geodetic.lon = RAD2DEG(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
static Geodetic to_radians(Geodetic geodetic){
|
||||
geodetic.lat = DEG2RAD(geodetic.lat);
|
||||
geodetic.lon = DEG2RAD(geodetic.lon);
|
||||
return geodetic;
|
||||
}
|
||||
|
||||
|
||||
ECEF geodetic2ecef(Geodetic g){
|
||||
g = to_radians(g);
|
||||
double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
|
||||
double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
|
||||
double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
|
||||
double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
|
||||
return {x, y, z};
|
||||
}
|
||||
|
||||
Geodetic ecef2geodetic(ECEF e){
|
||||
// Convert from ECEF to geodetic using Ferrari's methods
|
||||
// https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
double x = e.x;
|
||||
double y = e.y;
|
||||
double z = e.z;
|
||||
|
||||
double r = sqrt(x * x + y * y);
|
||||
double Esq = a * a - b * b;
|
||||
double F = 54 * b * b * z * z;
|
||||
double G = r * r + (1 - esq) * z * z - esq * Esq;
|
||||
double C = (esq * esq * F * r * r) / (pow(G, 3));
|
||||
double S = cbrt(1 + C + sqrt(C * C + 2 * C));
|
||||
double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
|
||||
double Q = sqrt(1 + 2 * esq * esq * P);
|
||||
double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
|
||||
double U = sqrt(pow((r - esq * r_0), 2) + z * z);
|
||||
double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
|
||||
double Z_0 = b * b * z / (a * V);
|
||||
double h = U * (1 - b * b / (a * V));
|
||||
|
||||
double lat = atan((z + e1sq * Z_0) / r);
|
||||
double lon = atan2(y, x);
|
||||
|
||||
return to_degrees({lat, lon, h});
|
||||
}
|
||||
|
||||
LocalCoord::LocalCoord(Geodetic g, ECEF e){
|
||||
init_ecef << e.x, e.y, e.z;
|
||||
|
||||
g = to_radians(g);
|
||||
|
||||
ned2ecef_matrix <<
|
||||
-sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
|
||||
-sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
|
||||
cos(g.lat), 0, -sin(g.lat);
|
||||
ecef2ned_matrix = ned2ecef_matrix.transpose();
|
||||
}
|
||||
|
||||
NED LocalCoord::ecef2ned(ECEF e) {
|
||||
Eigen::Vector3d ecef;
|
||||
ecef << e.x, e.y, e.z;
|
||||
|
||||
Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
|
||||
return {ned[0], ned[1], ned[2]};
|
||||
}
|
||||
|
||||
ECEF LocalCoord::ned2ecef(NED n) {
|
||||
Eigen::Vector3d ned;
|
||||
ned << n.n, n.e, n.d;
|
||||
|
||||
Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
|
||||
return {ecef[0], ecef[1], ecef[2]};
|
||||
}
|
||||
|
||||
NED LocalCoord::geodetic2ned(Geodetic g) {
|
||||
ECEF e = ::geodetic2ecef(g);
|
||||
return ecef2ned(e);
|
||||
}
|
||||
|
||||
Geodetic LocalCoord::ned2geodetic(NED n){
|
||||
ECEF e = ned2ecef(n);
|
||||
return ::ecef2geodetic(e);
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
#pragma once
|
||||
|
||||
struct ECEF {
|
||||
double x, y, z;
|
||||
Eigen::Vector3d to_vector(){
|
||||
return Eigen::Vector3d(x, y, z);
|
||||
}
|
||||
};
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
double lat, lon, alt;
|
||||
bool radians=false;
|
||||
};
|
||||
|
||||
ECEF geodetic2ecef(Geodetic g);
|
||||
Geodetic ecef2geodetic(ECEF e);
|
||||
|
||||
class LocalCoord {
|
||||
public:
|
||||
Eigen::Matrix3d ned2ecef_matrix;
|
||||
Eigen::Matrix3d ecef2ned_matrix;
|
||||
Eigen::Vector3d init_ecef;
|
||||
LocalCoord(Geodetic g, ECEF e);
|
||||
LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
|
||||
LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
|
||||
|
||||
NED ecef2ned(ECEF e);
|
||||
ECEF ned2ecef(NED n);
|
||||
NED geodetic2ned(Geodetic g);
|
||||
Geodetic ned2geodetic(NED n);
|
||||
};
|
||||
@@ -1,110 +1,19 @@
|
||||
import numpy as np
|
||||
"""
|
||||
Coordinate transformation module. All methods accept arrays as input
|
||||
with each row as a position.
|
||||
"""
|
||||
# pylint: skip-file
|
||||
from common.transformations.orientation import numpy_wrap
|
||||
from common.transformations.transformations import (ecef2geodetic_single,
|
||||
geodetic2ecef_single)
|
||||
from common.transformations.transformations import LocalCoord as LocalCoord_single
|
||||
|
||||
|
||||
|
||||
a = 6378137
|
||||
b = 6356752.3142
|
||||
esq = 6.69437999014 * 0.001
|
||||
e1sq = 6.73949674228 * 0.001
|
||||
class LocalCoord(LocalCoord_single):
|
||||
ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,))
|
||||
ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,))
|
||||
geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,))
|
||||
ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,))
|
||||
|
||||
|
||||
def geodetic2ecef(geodetic, radians=False):
|
||||
geodetic = np.array(geodetic)
|
||||
input_shape = geodetic.shape
|
||||
geodetic = np.atleast_2d(geodetic)
|
||||
geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,))
|
||||
ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,))
|
||||
|
||||
ratio = 1.0 if radians else (np.pi / 180.0)
|
||||
lat = ratio*geodetic[:, 0]
|
||||
lon = ratio*geodetic[:, 1]
|
||||
alt = geodetic[:, 2]
|
||||
|
||||
xi = np.sqrt(1 - esq * np.sin(lat)**2)
|
||||
x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
|
||||
y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
|
||||
z = (a / xi * (1 - esq) + alt) * np.sin(lat)
|
||||
ecef = np.array([x, y, z]).T
|
||||
return ecef.reshape(input_shape)
|
||||
|
||||
|
||||
def ecef2geodetic(ecef, radians=False):
|
||||
"""
|
||||
Convert ECEF coordinates to geodetic using ferrari's method
|
||||
"""
|
||||
# Save shape and export column
|
||||
ecef = np.atleast_1d(ecef)
|
||||
input_shape = ecef.shape
|
||||
ecef = np.atleast_2d(ecef)
|
||||
x, y, z = ecef[:, 0], ecef[:, 1], ecef[:, 2]
|
||||
|
||||
ratio = 1.0 if radians else (180.0 / np.pi)
|
||||
|
||||
# Conver from ECEF to geodetic using Ferrari's methods
|
||||
# https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
|
||||
r = np.sqrt(x * x + y * y)
|
||||
Esq = a * a - b * b
|
||||
F = 54 * b * b * z * z
|
||||
G = r * r + (1 - esq) * z * z - esq * Esq
|
||||
C = (esq * esq * F * r * r) / (pow(G, 3))
|
||||
S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
|
||||
P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
|
||||
Q = np.sqrt(1 + 2 * esq * esq * P)
|
||||
r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
|
||||
P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
|
||||
U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
|
||||
V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)
|
||||
Z_0 = b * b * z / (a * V)
|
||||
h = U * (1 - b * b / (a * V))
|
||||
lat = ratio*np.arctan((z + e1sq * Z_0) / r)
|
||||
lon = ratio*np.arctan2(y, x)
|
||||
|
||||
# stack the new columns and return to the original shape
|
||||
geodetic = np.column_stack((lat, lon, h))
|
||||
return geodetic.reshape(input_shape)
|
||||
|
||||
class LocalCoord():
|
||||
"""
|
||||
Allows conversions to local frames. In this case NED.
|
||||
That is: North East Down from the start position in
|
||||
meters.
|
||||
"""
|
||||
def __init__(self, init_geodetic, init_ecef):
|
||||
self.init_ecef = init_ecef
|
||||
lat, lon, _ = (np.pi/180)*np.array(init_geodetic)
|
||||
self.ned2ecef_matrix = np.array([[-np.sin(lat)*np.cos(lon), -np.sin(lon), -np.cos(lat)*np.cos(lon)],
|
||||
[-np.sin(lat)*np.sin(lon), np.cos(lon), -np.cos(lat)*np.sin(lon)],
|
||||
[np.cos(lat), 0, -np.sin(lat)]])
|
||||
self.ecef2ned_matrix = self.ned2ecef_matrix.T
|
||||
self.ecef_from_ned_matrix = self.ned2ecef_matrix
|
||||
self.ned_from_ecef_matrix = self.ecef2ned_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, init_geodetic):
|
||||
init_ecef = geodetic2ecef(init_geodetic)
|
||||
return LocalCoord(init_geodetic, init_ecef)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, init_ecef):
|
||||
init_geodetic = ecef2geodetic(init_ecef)
|
||||
return LocalCoord(init_geodetic, init_ecef)
|
||||
|
||||
|
||||
def ecef2ned(self, ecef):
|
||||
ecef = np.array(ecef)
|
||||
return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T
|
||||
|
||||
def ned2ecef(self, ned):
|
||||
ned = np.array(ned)
|
||||
# Transpose so that init_ecef will broadcast correctly for 1d or 2d ned.
|
||||
return (np.dot(self.ned2ecef_matrix, ned.T).T + self.init_ecef)
|
||||
|
||||
def geodetic2ned(self, geodetic):
|
||||
ecef = geodetic2ecef(geodetic)
|
||||
return self.ecef2ned(ecef)
|
||||
|
||||
def ned2geodetic(self, ned):
|
||||
ecef = self.ned2ecef(ned)
|
||||
return ecef2geodetic(ecef)
|
||||
geodetic_from_ecef = ecef2geodetic
|
||||
ecef_from_geodetic = geodetic2ecef
|
||||
|
||||
@@ -1,33 +1,33 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE,
|
||||
FOCAL,
|
||||
get_view_frame_from_road_frame,
|
||||
get_view_frame_from_calib_frame,
|
||||
vp_from_ke)
|
||||
|
||||
# segnet
|
||||
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
segnet_frame_from_camera_frame = np.array([
|
||||
[float(SEGNET_SIZE[0])/FULL_FRAME_SIZE[0], 0., ],
|
||||
[ 0., float(SEGNET_SIZE[1])/FULL_FRAME_SIZE[1]]])
|
||||
|
||||
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
|
||||
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
|
||||
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
|
||||
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
|
||||
|
||||
# model
|
||||
|
||||
MODEL_INPUT_SIZE = (320, 160)
|
||||
MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0]/2.
|
||||
MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
|
||||
MODEL_CY = 21.
|
||||
|
||||
model_zoom = 1.25
|
||||
model_fl = 728.0
|
||||
model_height = 1.22
|
||||
|
||||
# canonical model transform
|
||||
model_intrinsics = np.array(
|
||||
[[ eon_focal_length / model_zoom, 0. , MODEL_CX],
|
||||
[ 0. , eon_focal_length / model_zoom, MODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
model_intrinsics = np.array([
|
||||
[model_fl, 0.0, MODEL_CX],
|
||||
[0.0, model_fl, MODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# MED model
|
||||
@@ -35,23 +35,45 @@ MEDMODEL_INPUT_SIZE = (512, 256)
|
||||
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MEDMODEL_CY = 47.6
|
||||
|
||||
medmodel_zoom = 1.
|
||||
medmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / medmodel_zoom, 0. , 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / medmodel_zoom, MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
medmodel_fl = 910.0
|
||||
medmodel_intrinsics = np.array([
|
||||
[medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[0.0, medmodel_fl, MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# CAL model
|
||||
CALMODEL_INPUT_SIZE = (512, 256)
|
||||
CALMODEL_YUV_SIZE = (CALMODEL_INPUT_SIZE[0], CALMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
CALMODEL_CY = 47.6
|
||||
|
||||
calmodel_fl = 606.7
|
||||
calmodel_intrinsics = np.array([
|
||||
[calmodel_fl, 0.0, 0.5 * CALMODEL_INPUT_SIZE[0]],
|
||||
[0.0, calmodel_fl, CALMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# BIG model
|
||||
|
||||
BIGMODEL_INPUT_SIZE = (1024, 512)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_zoom = 1.
|
||||
bigmodel_intrinsics = np.array(
|
||||
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY],
|
||||
[ 0. , 0. , 1.]])
|
||||
bigmodel_fl = 910.0
|
||||
bigmodel_intrinsics = np.array([
|
||||
[bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, bigmodel_fl, 256 + MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# SBIG model (big model with the size of small model)
|
||||
SBIGMODEL_INPUT_SIZE = (512, 256)
|
||||
SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
sbigmodel_fl = 455.0
|
||||
sbigmodel_intrinsics = np.array([
|
||||
[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
model_frame_from_road_frame = np.dot(model_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
@@ -62,23 +84,27 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
|
||||
# 'camera from model camera'
|
||||
def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, 0],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
[1, 0, 0],
|
||||
[0, 1, 0],
|
||||
[0, 0, height - model_height],
|
||||
[0, 0, 1],
|
||||
]))
|
||||
|
||||
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
|
||||
@@ -89,18 +115,19 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
|
||||
|
||||
# camera_frame_from_model_frame aka 'warp matrix'
|
||||
# was: calibration.h/CalibrationTransform
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
|
||||
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
|
||||
vp = vp_from_ke(camera_frame_from_road_frame)
|
||||
|
||||
model_zoom = camera_fl / model_fl
|
||||
model_camera_from_model_frame = np.array([
|
||||
[model_zoom, 0., vp[0] - MODEL_CX * model_zoom],
|
||||
[ 0., model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[ 0., 0., 1.],
|
||||
[model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom],
|
||||
[0.0, model_zoom, vp[1] - MODEL_CY * model_zoom],
|
||||
[0.0, 0.0, 1.0],
|
||||
])
|
||||
|
||||
# This function is super slow, so skip it if height is very close to canonical
|
||||
# TODO: speed it up!
|
||||
if abs(height - model_height) > 0.001: #
|
||||
if abs(height - model_height) > 0.001:
|
||||
camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
|
||||
else:
|
||||
camera_from_model_camera = np.eye(3)
|
||||
|
||||
@@ -0,0 +1,147 @@
|
||||
#define _USE_MATH_DEFINES
|
||||
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <eigen3/Eigen/Dense>
|
||||
|
||||
#include "orientation.hpp"
|
||||
#include "coordinates.hpp"
|
||||
|
||||
Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
|
||||
if (quat.w() > 0){
|
||||
return quat;
|
||||
} else {
|
||||
return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
|
||||
}
|
||||
}
|
||||
|
||||
Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){
|
||||
Eigen::Quaterniond q;
|
||||
|
||||
q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
|
||||
* Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
|
||||
* Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
|
||||
return ensure_unique(q);
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){
|
||||
// TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
|
||||
// Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
|
||||
// return {euler(2), euler(1), euler(0)};
|
||||
double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
|
||||
double theta = asin(2 * (quat.w() * quat.y() - quat.z() * quat.x()));
|
||||
double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
|
||||
return {gamma, theta, psi};
|
||||
}
|
||||
|
||||
Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
|
||||
return quat.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
|
||||
return ensure_unique(Eigen::Quaterniond(rot));
|
||||
}
|
||||
|
||||
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
|
||||
return quat2rot(euler2quat(euler));
|
||||
}
|
||||
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
|
||||
return quat2euler(rot2quat(rot));
|
||||
}
|
||||
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){
|
||||
return euler2rot({roll, pitch, yaw});
|
||||
}
|
||||
|
||||
Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){
|
||||
Eigen::Quaterniond q;
|
||||
q = Eigen::AngleAxisd(angle, axis);
|
||||
return q.toRotationMatrix();
|
||||
}
|
||||
|
||||
|
||||
Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) {
|
||||
/*
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
Don Koks
|
||||
https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
|
||||
*/
|
||||
LocalCoord converter = LocalCoord(ecef_init);
|
||||
Eigen::Vector3d zero = ecef_init.to_vector();
|
||||
|
||||
Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
|
||||
Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
|
||||
Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
|
||||
|
||||
Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
|
||||
Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
|
||||
Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
|
||||
|
||||
Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
|
||||
Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
|
||||
Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
|
||||
|
||||
Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
|
||||
Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
|
||||
|
||||
|
||||
x0 = Eigen::Vector3d(1, 0, 0);
|
||||
y0 = Eigen::Vector3d(0, 1, 0);
|
||||
z0 = Eigen::Vector3d(0, 0, 1);
|
||||
|
||||
double psi = atan2(x3.dot(y0), x3.dot(x0));
|
||||
double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
|
||||
|
||||
y2 = rot(z0, psi) * y0;
|
||||
z2 = rot(y2, theta) * z0;
|
||||
|
||||
double phi = atan2(y3.dot(z2), y3.dot(y2));
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
|
||||
/*
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
Don Koks
|
||||
https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
|
||||
*/
|
||||
LocalCoord converter = LocalCoord(ecef_init);
|
||||
|
||||
Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
|
||||
Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
|
||||
Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
|
||||
|
||||
Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
|
||||
Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
|
||||
Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
|
||||
|
||||
Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
|
||||
Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
|
||||
Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
|
||||
|
||||
Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
|
||||
Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
|
||||
|
||||
Eigen::Vector3d zero = ecef_init.to_vector();
|
||||
x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
|
||||
y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
|
||||
z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
|
||||
|
||||
double psi = atan2(x3.dot(y0), x3.dot(x0));
|
||||
double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
|
||||
|
||||
y2 = rot(z0, psi) * y0;
|
||||
z2 = rot(y2, theta) * z0;
|
||||
|
||||
double phi = atan2(y3.dot(z2), y3.dot(y2));
|
||||
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main(void){
|
||||
}
|
||||
@@ -0,0 +1,17 @@
|
||||
#pragma once
|
||||
#include <eigen3/Eigen/Dense>
|
||||
#include "coordinates.hpp"
|
||||
|
||||
|
||||
Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
|
||||
|
||||
Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
|
||||
Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
|
||||
Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
|
||||
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
|
||||
Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
|
||||
Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
|
||||
Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
|
||||
Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose);
|
||||
@@ -1,295 +1,52 @@
|
||||
# pylint: skip-file
|
||||
import numpy as np
|
||||
from numpy import dot, inner, array, linalg
|
||||
from common.transformations.coordinates import LocalCoord
|
||||
|
||||
from common.transformations.transformations import (ecef_euler_from_ned_single,
|
||||
euler2quat_single,
|
||||
euler2rot_single,
|
||||
ned_euler_from_ecef_single,
|
||||
quat2euler_single,
|
||||
quat2rot_single,
|
||||
rot2euler_single,
|
||||
rot2quat_single)
|
||||
|
||||
|
||||
'''
|
||||
Vectorized functions that transform between
|
||||
rotation matrices, euler angles and quaternions.
|
||||
All support lists, array or array of arrays as inputs.
|
||||
Supports both x2y and y_from_x format (y_from_x preferred!).
|
||||
'''
|
||||
def numpy_wrap(function, input_shape, output_shape):
|
||||
"""Wrap a function to take either an input or list of inputs and return the correct shape"""
|
||||
def f(*inps):
|
||||
*args, inp = inps
|
||||
inp = np.array(inp)
|
||||
shape = inp.shape
|
||||
|
||||
def euler2quat(eulers):
|
||||
eulers = array(eulers)
|
||||
if len(eulers.shape) > 1:
|
||||
output_shape = (-1, 4)
|
||||
else:
|
||||
output_shape = (4,)
|
||||
eulers = np.atleast_2d(eulers)
|
||||
gamma, theta, psi = eulers[:, 0], eulers[:, 1], eulers[:, 2]
|
||||
if len(shape) == len(input_shape):
|
||||
out_shape = output_shape
|
||||
else:
|
||||
out_shape = (shape[0],) + output_shape
|
||||
|
||||
q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
|
||||
q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
|
||||
np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
|
||||
q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
|
||||
np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
|
||||
q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
|
||||
np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
|
||||
# Add empty dimension if inputs is not a list
|
||||
if len(shape) == len(input_shape):
|
||||
inp.shape = (1, ) + inp.shape
|
||||
|
||||
quats = array([q0, q1, q2, q3]).T
|
||||
for i in range(len(quats)):
|
||||
if quats[i, 0] < 0:
|
||||
quats[i] = -quats[i]
|
||||
return quats.reshape(output_shape)
|
||||
result = np.asarray([function(*args, i) for i in inp])
|
||||
result.shape = out_shape
|
||||
return result
|
||||
return f
|
||||
|
||||
|
||||
def quat2euler(quats):
|
||||
quats = array(quats)
|
||||
if len(quats.shape) > 1:
|
||||
output_shape = (-1, 3)
|
||||
else:
|
||||
output_shape = (3,)
|
||||
quats = np.atleast_2d(quats)
|
||||
q0, q1, q2, q3 = quats[:, 0], quats[:, 1], quats[:, 2], quats[:, 3]
|
||||
|
||||
gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
|
||||
theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
|
||||
psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
|
||||
|
||||
eulers = array([gamma, theta, psi]).T
|
||||
return eulers.reshape(output_shape)
|
||||
|
||||
|
||||
def quat2rot(quats):
|
||||
quats = array(quats)
|
||||
input_shape = quats.shape
|
||||
quats = np.atleast_2d(quats)
|
||||
Rs = np.zeros((quats.shape[0], 3, 3))
|
||||
q0 = quats[:, 0]
|
||||
q1 = quats[:, 1]
|
||||
q2 = quats[:, 2]
|
||||
q3 = quats[:, 3]
|
||||
Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
|
||||
Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
|
||||
Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
|
||||
Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
|
||||
Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
|
||||
Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
|
||||
Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
|
||||
Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
|
||||
Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
|
||||
|
||||
if len(input_shape) < 2:
|
||||
return Rs[0]
|
||||
else:
|
||||
return Rs
|
||||
|
||||
|
||||
def rot2quat(rots):
|
||||
input_shape = rots.shape
|
||||
if len(input_shape) < 3:
|
||||
rots = array([rots])
|
||||
K3 = np.empty((len(rots), 4, 4))
|
||||
K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
|
||||
K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
|
||||
K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
|
||||
K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
|
||||
K3[:, 1, 0] = K3[:, 0, 1]
|
||||
K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
|
||||
K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
|
||||
K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
|
||||
K3[:, 2, 0] = K3[:, 0, 2]
|
||||
K3[:, 2, 1] = K3[:, 1, 2]
|
||||
K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
|
||||
K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
|
||||
K3[:, 3, 0] = K3[:, 0, 3]
|
||||
K3[:, 3, 1] = K3[:, 1, 3]
|
||||
K3[:, 3, 2] = K3[:, 2, 3]
|
||||
K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
|
||||
q = np.empty((len(rots), 4))
|
||||
for i in range(len(rots)):
|
||||
_, eigvecs = linalg.eigh(K3[i].T)
|
||||
eigvecs = eigvecs[:, 3:]
|
||||
q[i, 0] = eigvecs[-1]
|
||||
q[i, 1:] = -eigvecs[:-1].flatten()
|
||||
if q[i, 0] < 0:
|
||||
q[i] = -q[i]
|
||||
|
||||
if len(input_shape) < 3:
|
||||
return q[0]
|
||||
else:
|
||||
return q
|
||||
|
||||
|
||||
def euler2rot(eulers):
|
||||
return rotations_from_quats(euler2quat(eulers))
|
||||
|
||||
|
||||
def rot2euler(rots):
|
||||
return quat2euler(quats_from_rotations(rots))
|
||||
|
||||
euler2quat = numpy_wrap(euler2quat_single, (3,), (4,))
|
||||
quat2euler = numpy_wrap(quat2euler_single, (4,), (3,))
|
||||
quat2rot = numpy_wrap(quat2rot_single, (4,), (3, 3))
|
||||
rot2quat = numpy_wrap(rot2quat_single, (3, 3), (4,))
|
||||
euler2rot = numpy_wrap(euler2rot_single, (3,), (3, 3))
|
||||
rot2euler = numpy_wrap(rot2euler_single, (3, 3), (3,))
|
||||
ecef_euler_from_ned = numpy_wrap(ecef_euler_from_ned_single, (3,), (3,))
|
||||
ned_euler_from_ecef = numpy_wrap(ned_euler_from_ecef_single, (3,), (3,))
|
||||
|
||||
quats_from_rotations = rot2quat
|
||||
quat_from_rot = rot2quat
|
||||
rotations_from_quats = quat2rot
|
||||
rot_from_quat = quat2rot
|
||||
rot_from_quat = quat2rot
|
||||
euler_from_rot = rot2euler
|
||||
euler_from_quat = quat2euler
|
||||
rot_from_euler = euler2rot
|
||||
quat_from_euler = euler2quat
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
'''
|
||||
Random helpers below
|
||||
'''
|
||||
|
||||
|
||||
def quat_product(q, r):
|
||||
t = np.zeros(4)
|
||||
t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
|
||||
t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
|
||||
t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
|
||||
t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
|
||||
return t
|
||||
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
cr, sr = np.cos(roll), np.sin(roll)
|
||||
cp, sp = np.cos(pitch), np.sin(pitch)
|
||||
cy, sy = np.cos(yaw), np.sin(yaw)
|
||||
rr = array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
|
||||
rp = array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
|
||||
ry = array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
|
||||
return ry.dot(rp.dot(rr))
|
||||
|
||||
|
||||
def rot(axis, angle):
|
||||
# Rotates around an arbitrary axis
|
||||
ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
|
||||
axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
|
||||
], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
|
||||
ret_2 = np.cos(angle) * np.eye(3)
|
||||
ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
|
||||
[-axis[1], axis[0], 0]])
|
||||
return ret_1 + ret_2 + ret_3
|
||||
|
||||
|
||||
def ecef_euler_from_ned(ned_ecef_init, ned_pose):
|
||||
'''
|
||||
Got it from here:
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
-Don Koks
|
||||
'''
|
||||
converter = LocalCoord.from_ecef(ned_ecef_init)
|
||||
x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
|
||||
|
||||
x1 = rot(z0, ned_pose[2]).dot(x0)
|
||||
y1 = rot(z0, ned_pose[2]).dot(y0)
|
||||
z1 = rot(z0, ned_pose[2]).dot(z0)
|
||||
|
||||
x2 = rot(y1, ned_pose[1]).dot(x1)
|
||||
y2 = rot(y1, ned_pose[1]).dot(y1)
|
||||
z2 = rot(y1, ned_pose[1]).dot(z1)
|
||||
|
||||
x3 = rot(x2, ned_pose[0]).dot(x2)
|
||||
y3 = rot(x2, ned_pose[0]).dot(y2)
|
||||
#z3 = rot(x2, ned_pose[0]).dot(z2)
|
||||
|
||||
x0 = array([1, 0, 0])
|
||||
y0 = array([0, 1, 0])
|
||||
z0 = array([0, 0, 1])
|
||||
|
||||
psi = np.arctan2(inner(x3, y0), inner(x3, x0))
|
||||
theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
|
||||
y2 = rot(z0, psi).dot(y0)
|
||||
z2 = rot(y2, theta).dot(z0)
|
||||
phi = np.arctan2(inner(y3, z2), inner(y3, y2))
|
||||
|
||||
ret = array([phi, theta, psi])
|
||||
return ret
|
||||
|
||||
|
||||
def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
|
||||
'''
|
||||
Got the math from here:
|
||||
Using Rotations to Build Aerospace Coordinate Systems
|
||||
-Don Koks
|
||||
|
||||
Also accepts array of ecef_poses and array of ned_ecef_inits.
|
||||
Where each row is a pose and an ecef_init.
|
||||
'''
|
||||
ned_ecef_init = array(ned_ecef_init)
|
||||
ecef_poses = array(ecef_poses)
|
||||
output_shape = ecef_poses.shape
|
||||
ned_ecef_init = np.atleast_2d(ned_ecef_init)
|
||||
if ned_ecef_init.shape[0] == 1:
|
||||
ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
|
||||
ecef_poses = np.atleast_2d(ecef_poses)
|
||||
|
||||
ned_poses = np.zeros(ecef_poses.shape)
|
||||
for i, ecef_pose in enumerate(ecef_poses):
|
||||
converter = LocalCoord.from_ecef(ned_ecef_init[i])
|
||||
x0 = array([1, 0, 0])
|
||||
y0 = array([0, 1, 0])
|
||||
z0 = array([0, 0, 1])
|
||||
|
||||
x1 = rot(z0, ecef_pose[2]).dot(x0)
|
||||
y1 = rot(z0, ecef_pose[2]).dot(y0)
|
||||
z1 = rot(z0, ecef_pose[2]).dot(z0)
|
||||
|
||||
x2 = rot(y1, ecef_pose[1]).dot(x1)
|
||||
y2 = rot(y1, ecef_pose[1]).dot(y1)
|
||||
z2 = rot(y1, ecef_pose[1]).dot(z1)
|
||||
|
||||
x3 = rot(x2, ecef_pose[0]).dot(x2)
|
||||
y3 = rot(x2, ecef_pose[0]).dot(y2)
|
||||
#z3 = rot(x2, ecef_pose[0]).dot(z2)
|
||||
|
||||
x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
|
||||
z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
|
||||
|
||||
psi = np.arctan2(inner(x3, y0), inner(x3, x0))
|
||||
theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
|
||||
y2 = rot(z0, psi).dot(y0)
|
||||
z2 = rot(y2, theta).dot(z0)
|
||||
phi = np.arctan2(inner(y3, z2), inner(y3, y2))
|
||||
ned_poses[i] = array([phi, theta, psi])
|
||||
|
||||
return ned_poses.reshape(output_shape)
|
||||
|
||||
|
||||
def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
|
||||
"""
|
||||
TODO: add roll rotation
|
||||
Converts an array of points in ecef coordinates into
|
||||
x-forward, y-left, z-up coordinates
|
||||
Parameters
|
||||
----------
|
||||
psi: yaw, radian
|
||||
theta: pitch, radian
|
||||
Returns
|
||||
-------
|
||||
[x, y, z] coordinates in car frame
|
||||
"""
|
||||
|
||||
# input is an array of points in ecef cocrdinates
|
||||
# output is an array of points in car's coordinate (x-front, y-left, z-up)
|
||||
|
||||
# convert points to NED
|
||||
points_ned = []
|
||||
for p in points_ecef:
|
||||
points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
|
||||
|
||||
points_ned = np.vstack(points_ned).T
|
||||
|
||||
# n, e, d -> x, y, z
|
||||
# Calculate relative postions and rotate wrt to heading and pitch of car
|
||||
invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
|
||||
|
||||
c, s = np.cos(psi), np.sin(psi)
|
||||
yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
|
||||
|
||||
c, s = np.cos(theta), np.sin(theta)
|
||||
pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
|
||||
|
||||
return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
|
||||
|
||||
@@ -0,0 +1,72 @@
|
||||
#cython: language_level=3
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "orientation.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "orientation.hpp":
|
||||
cdef cppclass Quaternion "Eigen::Quaterniond":
|
||||
Quaternion()
|
||||
Quaternion(double, double, double, double)
|
||||
double w()
|
||||
double x()
|
||||
double y()
|
||||
double z()
|
||||
|
||||
cdef cppclass Vector3 "Eigen::Vector3d":
|
||||
Vector3()
|
||||
Vector3(double, double, double)
|
||||
double operator()(int)
|
||||
|
||||
cdef cppclass Matrix3 "Eigen::Matrix3d":
|
||||
Matrix3()
|
||||
Matrix3(double*)
|
||||
|
||||
double operator()(int, int)
|
||||
|
||||
Quaternion euler2quat(Vector3)
|
||||
Vector3 quat2euler(Quaternion)
|
||||
Matrix3 quat2rot(Quaternion)
|
||||
Quaternion rot2quat(Matrix3)
|
||||
Vector3 rot2euler(Matrix3)
|
||||
Matrix3 euler2rot(Vector3)
|
||||
Matrix3 rot_matrix(double, double, double)
|
||||
Vector3 ecef_euler_from_ned(ECEF, Vector3)
|
||||
Vector3 ned_euler_from_ecef(ECEF, Vector3)
|
||||
|
||||
|
||||
cdef extern from "coordinates.cc":
|
||||
cdef struct ECEF:
|
||||
double x
|
||||
double y
|
||||
double z
|
||||
|
||||
cdef struct NED:
|
||||
double n
|
||||
double e
|
||||
double d
|
||||
|
||||
cdef struct Geodetic:
|
||||
double lat
|
||||
double lon
|
||||
double alt
|
||||
bool radians
|
||||
|
||||
ECEF geodetic2ecef(Geodetic)
|
||||
Geodetic ecef2geodetic(ECEF)
|
||||
|
||||
cdef cppclass LocalCoord_c "LocalCoord":
|
||||
Matrix3 ned2ecef_matrix
|
||||
Matrix3 ecef2ned_matrix
|
||||
|
||||
LocalCoord_c(Geodetic, ECEF)
|
||||
LocalCoord_c(Geodetic)
|
||||
LocalCoord_c(ECEF)
|
||||
|
||||
NED ecef2ned(ECEF)
|
||||
ECEF ned2ecef(NED)
|
||||
NED geodetic2ned(Geodetic)
|
||||
Geodetic ned2geodetic(NED)
|
||||
|
||||
cdef extern from "coordinates.hpp":
|
||||
pass
|
||||
@@ -0,0 +1,174 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
|
||||
from common.transformations.transformations cimport ECEF, NED, Geodetic
|
||||
|
||||
from common.transformations.transformations cimport euler2quat as euler2quat_c
|
||||
from common.transformations.transformations cimport quat2euler as quat2euler_c
|
||||
from common.transformations.transformations cimport quat2rot as quat2rot_c
|
||||
from common.transformations.transformations cimport rot2quat as rot2quat_c
|
||||
from common.transformations.transformations cimport euler2rot as euler2rot_c
|
||||
from common.transformations.transformations cimport rot2euler as rot2euler_c
|
||||
from common.transformations.transformations cimport rot_matrix as rot_matrix_c
|
||||
from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
|
||||
from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
|
||||
from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
|
||||
from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
|
||||
from common.transformations.transformations cimport LocalCoord_c
|
||||
|
||||
|
||||
import cython
|
||||
import numpy as np
|
||||
cimport numpy as np
|
||||
|
||||
cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
|
||||
return np.array([
|
||||
[m(0, 0), m(0, 1), m(0, 2)],
|
||||
[m(1, 0), m(1, 1), m(1, 2)],
|
||||
[m(2, 0), m(2, 1), m(2, 2)],
|
||||
])
|
||||
|
||||
cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
|
||||
assert m.shape[0] == 3
|
||||
assert m.shape[1] == 3
|
||||
return Matrix3(<double*>m.data)
|
||||
|
||||
cdef ECEF list2ecef(ecef):
|
||||
cdef ECEF e;
|
||||
e.x = ecef[0]
|
||||
e.y = ecef[1]
|
||||
e.z = ecef[2]
|
||||
return e
|
||||
|
||||
cdef NED list2ned(ned):
|
||||
cdef NED n;
|
||||
n.n = ned[0]
|
||||
n.e = ned[1]
|
||||
n.d = ned[2]
|
||||
return n
|
||||
|
||||
cdef Geodetic list2geodetic(geodetic):
|
||||
cdef Geodetic g
|
||||
g.lat = geodetic[0]
|
||||
g.lon = geodetic[1]
|
||||
g.alt = geodetic[2]
|
||||
return g
|
||||
|
||||
def euler2quat_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Quaternion q = euler2quat_c(e)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def quat2euler_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Vector3 e = quat2euler_c(q);
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def quat2rot_single(quat):
|
||||
cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
|
||||
cdef Matrix3 r = quat2rot_c(q)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2quat_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Quaternion q = rot2quat_c(r)
|
||||
return [q.w(), q.x(), q.y(), q.z()]
|
||||
|
||||
def euler2rot_single(euler):
|
||||
cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
|
||||
cdef Matrix3 r = euler2rot_c(e)
|
||||
return matrix2numpy(r)
|
||||
|
||||
def rot2euler_single(rot):
|
||||
cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
|
||||
cdef Vector3 e = rot2euler_c(r)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def rot_matrix(roll, pitch, yaw):
|
||||
return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
|
||||
|
||||
def ecef_euler_from_ned_single(ecef_init, ned_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
|
||||
|
||||
cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def ned_euler_from_ecef_single(ecef_init, ecef_pose):
|
||||
cdef ECEF init = list2ecef(ecef_init)
|
||||
cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
|
||||
|
||||
cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
|
||||
return [e(0), e(1), e(2)]
|
||||
|
||||
def geodetic2ecef_single(geodetic):
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef ECEF e = geodetic2ecef_c(g)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def ecef2geodetic_single(ecef):
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef Geodetic g = ecef2geodetic_c(e)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
|
||||
cdef class LocalCoord:
|
||||
cdef LocalCoord_c * lc
|
||||
|
||||
def __init__(self, geodetic=None, ecef=None):
|
||||
assert (geodetic is not None) or (ecef is not None)
|
||||
if geodetic is not None:
|
||||
self.lc = new LocalCoord_c(list2geodetic(geodetic))
|
||||
elif ecef is not None:
|
||||
self.lc = new LocalCoord_c(list2ecef(ecef))
|
||||
|
||||
@property
|
||||
def ned2ecef_matrix(self):
|
||||
return matrix2numpy(self.lc.ned2ecef_matrix)
|
||||
|
||||
@property
|
||||
def ecef2ned_matrix(self):
|
||||
return matrix2numpy(self.lc.ecef2ned_matrix)
|
||||
|
||||
@property
|
||||
def ned_from_ecef_matrix(self):
|
||||
return self.ecef2ned_matrix
|
||||
|
||||
@property
|
||||
def ecef_from_ned_matrix(self):
|
||||
return self.ned2ecef_matrix
|
||||
|
||||
@classmethod
|
||||
def from_geodetic(cls, geodetic):
|
||||
return cls(geodetic=geodetic)
|
||||
|
||||
@classmethod
|
||||
def from_ecef(cls, ecef):
|
||||
return cls(ecef=ecef)
|
||||
|
||||
def ecef2ned_single(self, ecef):
|
||||
assert self.lc
|
||||
cdef ECEF e = list2ecef(ecef)
|
||||
cdef NED n = self.lc.ecef2ned(e)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2ecef_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef ECEF e = self.lc.ned2ecef(n)
|
||||
return [e.x, e.y, e.z]
|
||||
|
||||
def geodetic2ned_single(self, geodetic):
|
||||
assert self.lc
|
||||
cdef Geodetic g = list2geodetic(geodetic)
|
||||
cdef NED n = self.lc.geodetic2ned(g)
|
||||
return [n.n, n.e, n.d]
|
||||
|
||||
def ned2geodetic_single(self, ned):
|
||||
assert self.lc
|
||||
cdef NED n = list2ned(ned)
|
||||
cdef Geodetic g = self.lc.ned2geodetic(n)
|
||||
return [g.lat, g.lon, g.alt]
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.lc
|
||||
@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
|
||||
-Werror=format-extra-args
|
||||
|
||||
CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
|
||||
CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
|
||||
|
||||
CURL_FLAGS = -I$(PHONELIBS)/curl/include
|
||||
CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \
|
||||
@@ -34,6 +34,7 @@ all: updater
|
||||
OBJS = opensans_regular.ttf.o \
|
||||
opensans_semibold.ttf.o \
|
||||
opensans_bold.ttf.o \
|
||||
../../selfdrive/common/util.o \
|
||||
../../selfdrive/common/touch.o \
|
||||
../../selfdrive/common/framebuffer.o \
|
||||
$(PHONELIBS)/json11/json11.o \
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
|
||||
"ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47.zip",
|
||||
"ota_hash": "e85f507777cb6b22f88ba1c8be6bbaa2630c484b971344b645fca2d1c461cd47",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb.img",
|
||||
"recovery_len": 15926572,
|
||||
"recovery_hash": "db31ffe79dfd60be966fba6d1525a5081a920062b883644dc8f5734bcc6806bb"
|
||||
}
|
||||
|
||||
@@ -1,7 +0,0 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a-kernel.zip",
|
||||
"ota_hash": "3bd2b3bdd6a501569e00b8f12786d65e0fd2788c0dd238f8c986e3e2e504683a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
}
|
||||
Binary file not shown.
+155
-124
@@ -10,6 +10,7 @@
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <mutex>
|
||||
#include <thread>
|
||||
|
||||
@@ -33,10 +34,10 @@
|
||||
|
||||
#define USER_AGENT "NEOSUpdater-0.2"
|
||||
|
||||
#define MANIFEST_URL_EON_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_EON_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_EON "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_EON;
|
||||
#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
|
||||
#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
|
||||
#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
|
||||
const char *manifest_url = MANIFEST_URL_NEOS;
|
||||
|
||||
#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
|
||||
#define RECOVERY_COMMAND "/cache/recovery/command"
|
||||
@@ -96,7 +97,7 @@ std::string download_string(CURL *curl, std::string url) {
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
|
||||
@@ -149,6 +150,32 @@ static void start_settings_activity(const char* name) {
|
||||
system(launch_cmd);
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
struct Updater {
|
||||
bool do_exit = false;
|
||||
|
||||
@@ -166,7 +193,6 @@ struct Updater {
|
||||
|
||||
std::mutex lock;
|
||||
|
||||
// i hate state machines give me coroutines already
|
||||
enum UpdateState {
|
||||
CONFIRMATION,
|
||||
LOW_BATTERY,
|
||||
@@ -190,15 +216,23 @@ struct Updater {
|
||||
int b_x, b_w, b_y, b_h;
|
||||
int balt_x;
|
||||
|
||||
// download stage writes these for the installation stage
|
||||
int recovery_len;
|
||||
std::string recovery_hash;
|
||||
std::string recovery_fn;
|
||||
std::string ota_fn;
|
||||
|
||||
CURL *curl = NULL;
|
||||
|
||||
Updater() {
|
||||
void ui_init() {
|
||||
touch_init(&touch);
|
||||
|
||||
fb = framebuffer_init("updater", 0x00001000, false,
|
||||
&fb_w, &fb_h);
|
||||
assert(fb);
|
||||
|
||||
framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
|
||||
@@ -218,7 +252,6 @@ struct Updater {
|
||||
b_h = 220;
|
||||
|
||||
state = CONFIRMATION;
|
||||
|
||||
}
|
||||
|
||||
int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
|
||||
@@ -251,7 +284,7 @@ struct Updater {
|
||||
|
||||
curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
|
||||
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
|
||||
curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
|
||||
curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
|
||||
curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
|
||||
@@ -319,32 +352,113 @@ struct Updater {
|
||||
state = RUNNING;
|
||||
}
|
||||
|
||||
std::string stage_download(std::string url, std::string hash, std::string name) {
|
||||
std::string download(std::string url, std::string hash, std::string name) {
|
||||
std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
|
||||
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
return "";
|
||||
// start or resume downloading if hash doesn't match
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
if (hash.compare(fn_hash) != 0) {
|
||||
set_progress("Downloading " + name + "...");
|
||||
bool r = download_file(url, out_fn);
|
||||
if (!r) {
|
||||
set_error("failed to download " + name);
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
fn_hash = sha256_file(out_fn);
|
||||
}
|
||||
|
||||
set_progress("Verifying " + name + "...");
|
||||
std::string fn_hash = sha256_file(out_fn);
|
||||
printf("got %s hash: %s\n", name.c_str(), hash.c_str());
|
||||
if (fn_hash != hash) {
|
||||
set_error(name + " was corrupt");
|
||||
unlink(out_fn.c_str());
|
||||
return "";
|
||||
}
|
||||
|
||||
return out_fn;
|
||||
}
|
||||
|
||||
void run_stages() {
|
||||
bool download_stage() {
|
||||
curl = curl_easy_init();
|
||||
assert(curl);
|
||||
|
||||
// ** quick checks before download **
|
||||
|
||||
if (!check_space()) {
|
||||
set_error("2GB of free space required to update");
|
||||
return false;
|
||||
}
|
||||
|
||||
mkdir(UPDATE_DIR, 0777);
|
||||
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s = download_string(curl, manifest_url);
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("failed to load update manifest");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string ota_url = manifest["ota_url"].string_value();
|
||||
std::string ota_hash = manifest["ota_hash"].string_value();
|
||||
|
||||
std::string recovery_url = manifest["recovery_url"].string_value();
|
||||
recovery_hash = manifest["recovery_hash"].string_value();
|
||||
recovery_len = manifest["recovery_len"].int_value();
|
||||
|
||||
// std::string installer_url = manifest["installer_url"].string_value();
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("invalid update manifest");
|
||||
return false;
|
||||
}
|
||||
|
||||
// std::string installer_fn = download(installer_url, installer_hash, "installer");
|
||||
// if (installer_fn.empty()) {
|
||||
// //error'd
|
||||
// return;
|
||||
// }
|
||||
|
||||
// ** handle recovery download **
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = download(recovery_url, recovery_hash, "recovery");
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// ** handle ota download **
|
||||
ota_fn = download(ota_url, ota_hash, "update");
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return false;
|
||||
}
|
||||
|
||||
// download sucessful
|
||||
return true;
|
||||
}
|
||||
|
||||
// thread that handles downloading and installing the update
|
||||
void run_stages() {
|
||||
printf("run_stages start\n");
|
||||
|
||||
|
||||
// ** download update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
int battery_cap = battery_capacity();
|
||||
@@ -356,77 +470,12 @@ struct Updater {
|
||||
set_running();
|
||||
}
|
||||
|
||||
if (!check_space()) {
|
||||
set_error("2GB of free space required to update");
|
||||
bool sucess = download_stage();
|
||||
if (!sucess) {
|
||||
return;
|
||||
}
|
||||
|
||||
mkdir(UPDATE_DIR, 0777);
|
||||
|
||||
const int EON = (access("/EON", F_OK) != -1);
|
||||
|
||||
set_progress("Finding latest version...");
|
||||
std::string manifest_s;
|
||||
if (EON) {
|
||||
manifest_s = download_string(curl, manifest_url);
|
||||
} else {
|
||||
// don't update NEO
|
||||
exit(0);
|
||||
}
|
||||
|
||||
printf("manifest: %s\n", manifest_s.c_str());
|
||||
|
||||
std::string err;
|
||||
auto manifest = json11::Json::parse(manifest_s, err);
|
||||
if (manifest.is_null() || !err.empty()) {
|
||||
set_error("failed to load update manifest");
|
||||
return;
|
||||
}
|
||||
|
||||
std::string ota_url = manifest["ota_url"].string_value();
|
||||
std::string ota_hash = manifest["ota_hash"].string_value();
|
||||
|
||||
std::string recovery_url = manifest["recovery_url"].string_value();
|
||||
std::string recovery_hash = manifest["recovery_hash"].string_value();
|
||||
int recovery_len = manifest["recovery_len"].int_value();
|
||||
|
||||
// std::string installer_url = manifest["installer_url"].string_value();
|
||||
// std::string installer_hash = manifest["installer_hash"].string_value();
|
||||
|
||||
if (ota_url.empty() || ota_hash.empty()) {
|
||||
set_error("invalid update manifest");
|
||||
return;
|
||||
}
|
||||
|
||||
// std::string installer_fn = stage_download(installer_url, installer_hash, "installer");
|
||||
// if (installer_fn.empty()) {
|
||||
// //error'd
|
||||
// return;
|
||||
// }
|
||||
|
||||
std::string recovery_fn;
|
||||
if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
|
||||
set_progress("Skipping recovery flash...");
|
||||
} else {
|
||||
// only download the recovery if it differs from what's flashed
|
||||
set_progress("Checking recovery...");
|
||||
std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
|
||||
printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
|
||||
|
||||
if (existing_recovery_hash != recovery_hash) {
|
||||
recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
|
||||
if (recovery_fn.empty()) {
|
||||
// error'd
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::string ota_fn = stage_download(ota_url, ota_hash, "update");
|
||||
if (ota_fn.empty()) {
|
||||
//error'd
|
||||
return;
|
||||
}
|
||||
// ** install update **
|
||||
|
||||
if (!check_battery()) {
|
||||
set_battery_low();
|
||||
@@ -601,7 +650,7 @@ struct Updater {
|
||||
int powerprompt_y = 312;
|
||||
nvgFontFace(vg, "opensans_regular");
|
||||
nvgFontSize(vg, 64.0f);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
|
||||
nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
|
||||
|
||||
NVGpaint paint = nvgBoxGradient(
|
||||
vg, progress_x + 1, progress_y + 1,
|
||||
@@ -657,9 +706,7 @@ struct Updater {
|
||||
void ui_update() {
|
||||
std::lock_guard<std::mutex> guard(lock);
|
||||
|
||||
switch (state) {
|
||||
case ERROR:
|
||||
case CONFIRMATION: {
|
||||
if (state == ERROR || state == CONFIRMATION) {
|
||||
int touch_x = -1, touch_y = -1;
|
||||
int res = touch_poll(&touch, &touch_x, &touch_y, 0);
|
||||
if (res == 1 && !is_settings_active()) {
|
||||
@@ -678,13 +725,11 @@ struct Updater {
|
||||
}
|
||||
}
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void go() {
|
||||
ui_init();
|
||||
|
||||
while (!do_exit) {
|
||||
ui_update();
|
||||
|
||||
@@ -718,51 +763,37 @@ struct Updater {
|
||||
update_thread_handle.join();
|
||||
}
|
||||
|
||||
// reboot
|
||||
system("service call power 16 i32 0 i32 0 i32 1");
|
||||
}
|
||||
|
||||
bool is_settings_active() {
|
||||
FILE *fp;
|
||||
char sys_output[4096];
|
||||
|
||||
fp = popen("/bin/dumpsys window windows", "r");
|
||||
if (fp == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
bool active = false;
|
||||
while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
|
||||
if (strstr(sys_output, "mCurrentFocus=null") != NULL) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
|
||||
active = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
pclose(fp);
|
||||
|
||||
return active;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
bool background_cache = false;
|
||||
if (argc > 1) {
|
||||
if (strcmp(argv[1], "local") == 0) {
|
||||
manifest_url = MANIFEST_URL_EON_LOCAL;
|
||||
manifest_url = MANIFEST_URL_NEOS_LOCAL;
|
||||
} else if (strcmp(argv[1], "staging") == 0) {
|
||||
manifest_url = MANIFEST_URL_EON_STAGING;
|
||||
manifest_url = MANIFEST_URL_NEOS_STAGING;
|
||||
} else if (strcmp(argv[1], "bgcache") == 0) {
|
||||
manifest_url = argv[2];
|
||||
background_cache = true;
|
||||
} else {
|
||||
manifest_url = argv[1];
|
||||
}
|
||||
}
|
||||
|
||||
printf("updating from %s\n", manifest_url);
|
||||
Updater updater;
|
||||
updater.go();
|
||||
|
||||
return 0;
|
||||
int err = 0;
|
||||
if (background_cache) {
|
||||
err = !updater.download_stage();
|
||||
} else {
|
||||
updater.go();
|
||||
}
|
||||
return err;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
+119
-46
@@ -1,25 +1,119 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export OMP_NUM_THREADS=1
|
||||
export MKL_NUM_THREADS=1
|
||||
export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$BASEDIR" ]; then
|
||||
BASEDIR="/data/openpilot"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
export PASSIVE="1"
|
||||
fi
|
||||
source "$BASEDIR/launch_env.sh"
|
||||
|
||||
STAGING_ROOT="/data/safe_staging"
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
function launch {
|
||||
function tici_init {
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
}
|
||||
|
||||
function two_init {
|
||||
# Wifi scan
|
||||
wpa_cli IFNAME=wlan0 SCAN
|
||||
|
||||
# *** shield cores 2-3 ***
|
||||
|
||||
# android gets two cores
|
||||
echo 0-1 > /dev/cpuset/background/cpus
|
||||
echo 0-1 > /dev/cpuset/system-background/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/cpus
|
||||
echo 0-1 > /dev/cpuset/foreground/boost/cpus
|
||||
echo 0-1 > /dev/cpuset/android/cpus
|
||||
|
||||
# openpilot gets all the cores
|
||||
echo 0-3 > /dev/cpuset/app/cpus
|
||||
|
||||
# mask off 2-3 from RPS and XPS - Receive/Transmit Packet Steering
|
||||
echo 3 | tee /sys/class/net/*/queues/*/rps_cpus
|
||||
echo 3 | tee /sys/class/net/*/queues/*/xps_cpus
|
||||
|
||||
# *** set up governors ***
|
||||
|
||||
# +50mW offroad, +500mW onroad for 30% more RAM bandwidth
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,cpubw/governor
|
||||
echo 1056000 > /sys/class/devfreq/soc:qcom,m4m/max_freq
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,m4m/governor
|
||||
|
||||
# unclear if these help, but they don't seem to hurt
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor
|
||||
echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu2/governor
|
||||
|
||||
# GPU
|
||||
echo "performance" > /sys/class/devfreq/b00000.qcom,kgsl-3d0/governor
|
||||
|
||||
# /sys/class/devfreq/soc:qcom,mincpubw is the only one left at "powersave"
|
||||
# it seems to gain nothing but a wasted 500mW
|
||||
|
||||
# *** set up IRQ affinities ***
|
||||
|
||||
# Collect RIL and other possibly long-running I/O interrupts onto CPU 1
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # qcom,smd-modem (LTE radio)
|
||||
echo 1 > /proc/irq/33/smp_affinity_list # ufshcd (flash storage)
|
||||
echo 1 > /proc/irq/35/smp_affinity_list # wifi (wlan_pci)
|
||||
echo 1 > /proc/irq/6/smp_affinity_list # MDSS
|
||||
|
||||
# USB traffic needs realtime handling on cpu 3
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list # USB for LeEco
|
||||
[ -d "/proc/irq/736" ] && echo 3 > /proc/irq/736/smp_affinity_list # USB for OP3T
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
for irq in $CAM_IRQS; do
|
||||
echo 2 > /proc/irq/$irq/smp_affinity_list
|
||||
done
|
||||
echo 2 > /proc/irq/193/smp_affinity_list # GPU
|
||||
|
||||
# give GPU threads RT priority
|
||||
for pid in $(pgrep "kgsl"); do
|
||||
chrt -f -p 52 $pid
|
||||
done
|
||||
|
||||
# the flippening!
|
||||
LD_LIBRARY_PATH="" content insert --uri content://settings/system --bind name:s:user_rotation --bind value:i:1
|
||||
|
||||
# disable bluetooth
|
||||
service call bluetooth_manager 8
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
if [ ! -f "$BASEDIR/prebuilt" ]; then
|
||||
# Clean old build products, but preserve the scons cache
|
||||
cd $DIR
|
||||
scons --clean
|
||||
git clean -xdf
|
||||
git submodule foreach --recursive git clean -xdf
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
fi
|
||||
|
||||
# One-time fix for a subset of OP3T with gyro orientation offsets.
|
||||
# Remove and regenerate qcom sensor registry. Only done on OP3T mainboards.
|
||||
# Performed exactly once. The old registry is preserved just-in-case, and
|
||||
# doubles as a flag denoting we've already done the reset.
|
||||
if ! $(grep -q "letv" /proc/cmdline) && [ ! -f "/persist/comma/op3t-sns-reg-backup" ]; then
|
||||
echo "Performing OP3T sensor registry reset"
|
||||
mv /persist/sensors/sns.reg /persist/comma/op3t-sns-reg-backup &&
|
||||
rm -f /persist/sensors/sensors_settings /persist/sensors/error_log /persist/sensors/gyro_sensitity_cal &&
|
||||
echo "restart" > /sys/kernel/debug/msm_subsys/slpi &&
|
||||
sleep 5 # Give Android sensor subsystem a moment to recover
|
||||
fi
|
||||
}
|
||||
|
||||
function launch {
|
||||
# Remove orphaned git lock if it exists on boot
|
||||
[ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
|
||||
|
||||
# Check to see if there's a valid overlay-based update available. Conditions
|
||||
# are as follows:
|
||||
#
|
||||
@@ -41,11 +135,15 @@ function launch {
|
||||
|
||||
mv $BASEDIR /data/safe_staging/old_openpilot
|
||||
mv "${STAGING_ROOT}/finalized" $BASEDIR
|
||||
cd $BASEDIR
|
||||
|
||||
# The mv changed our working directory to /data/safe_staging/old_openpilot
|
||||
cd "${BASEDIR}"
|
||||
# Partial mitigation for symlink-related filesystem corruption
|
||||
# Ensure all files match the repo versions after update
|
||||
git reset --hard
|
||||
git submodule foreach --recursive git reset --hard
|
||||
|
||||
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
||||
unset REQUIRED_NEOS_VERSION
|
||||
exec "${LAUNCHER_LOCATION}"
|
||||
else
|
||||
echo "openpilot backup found, not updating"
|
||||
@@ -55,45 +153,20 @@ function launch {
|
||||
fi
|
||||
fi
|
||||
|
||||
# no cpu rationing for now
|
||||
echo 0-3 > /dev/cpuset/background/cpus
|
||||
echo 0-3 > /dev/cpuset/system-background/cpus
|
||||
echo 0-3 > /dev/cpuset/foreground/boost/cpus
|
||||
echo 0-3 > /dev/cpuset/foreground/cpus
|
||||
echo 0-3 > /dev/cpuset/android/cpus
|
||||
|
||||
# change interrupt affinity
|
||||
echo 3 > /proc/irq/6/smp_affinity_list # MDSS
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
|
||||
echo 2 > /proc/irq/733/smp_affinity_list # USB
|
||||
echo 2 > /proc/irq/736/smp_affinity_list # USB
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
# Remove old NEOS update file
|
||||
# TODO: move this code to the updater
|
||||
if [ -d /data/neoupdate ]; then
|
||||
rm -rf /data/neoupdate
|
||||
# comma two init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
fi
|
||||
|
||||
# Check for NEOS update
|
||||
if [ $(< /VERSION) != "14" ]; then
|
||||
if [ -f "$DIR/scripts/continue.sh" ]; then
|
||||
cp "$DIR/scripts/continue.sh" "/data/data/com.termux/files/continue.sh"
|
||||
fi
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update.json"
|
||||
else
|
||||
if [[ $(uname -v) == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020" ]]; then
|
||||
"$DIR/installer/updater/updater" "file://$DIR/installer/updater/update_kernel.json"
|
||||
fi
|
||||
fi
|
||||
|
||||
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
# write tmux scrollback to a file
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
# start manager
|
||||
cd selfdrive
|
||||
./manager.py
|
||||
|
||||
Executable
+17
@@ -0,0 +1,17 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export OMP_NUM_THREADS=1
|
||||
export MKL_NUM_THREADS=1
|
||||
export NUMEXPR_NUM_THREADS=1
|
||||
export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="15-1"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
export PASSIVE="1"
|
||||
fi
|
||||
|
||||
export STAGING_ROOT="/data/safe_staging"
|
||||
@@ -1,17 +0,0 @@
|
||||
path_classifiers:
|
||||
library:
|
||||
- external
|
||||
- phonelibs
|
||||
- pyextra
|
||||
- tools/lib/mkvparse
|
||||
extraction:
|
||||
cpp:
|
||||
after_prepare:
|
||||
- "pip3 install jinja2 pyyaml cython pycapnp numpy sympy tqdm cffi logentries zmq"
|
||||
- "export PATH=$PWD/external/bin:$PATH"
|
||||
index:
|
||||
build_command: "python3 $(which scons)"
|
||||
javascript:
|
||||
index:
|
||||
filters:
|
||||
- exclude: "*"
|
||||
Binary file not shown.
Binary file not shown.
Vendored
-27
@@ -1,27 +0,0 @@
|
||||
name: Tests
|
||||
|
||||
on: [push, pull_request]
|
||||
|
||||
jobs:
|
||||
test:
|
||||
runs-on: ubuntu-16.04
|
||||
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- run: |
|
||||
set -e
|
||||
docker build -t opendbc .
|
||||
name: "Build"
|
||||
- name: Static analysis
|
||||
run: |
|
||||
docker run opendbc bash -c "cd opendbc && git init && git add -A && pre-commit run --all"
|
||||
- run: |
|
||||
docker run opendbc bash -c "python -m unittest discover opendbc"
|
||||
name: "Unit tests"
|
||||
- run: |
|
||||
docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./flake8_opendbc.sh"
|
||||
docker run opendbc bash -c "cd opendbc/can/tests/linter_python; PYTHONPATH=/ ./pylint_opendbc.sh"
|
||||
name: "Python linter"
|
||||
- run: |
|
||||
docker run opendbc bash -c "cd opendbc/can/tests/; PYTHONPATH=/ ./test_generator.sh"
|
||||
name: "Generator test"
|
||||
+4
-1
@@ -1,14 +1,17 @@
|
||||
.mypy_cache/
|
||||
*.pyc
|
||||
*.os
|
||||
*.o
|
||||
*.tmp
|
||||
*.dylib
|
||||
.*.swp
|
||||
.DS_Store
|
||||
.sconsign.dblite
|
||||
|
||||
can/*.so
|
||||
can/build/
|
||||
can/obj/
|
||||
can/packer_pyx.cpp
|
||||
can/parser_pyx.cpp
|
||||
can/packer_impl.cpp
|
||||
can/packer_pyx.html
|
||||
can/parser_pyx.html
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
repos:
|
||||
- repo: https://github.com/pre-commit/pre-commit-hooks
|
||||
rev: master
|
||||
hooks:
|
||||
- id: check-ast
|
||||
- id: check-json
|
||||
- id: check-xml
|
||||
- id: check-yaml
|
||||
- repo: https://github.com/pre-commit/mirrors-mypy
|
||||
rev: master
|
||||
hooks:
|
||||
- id: mypy
|
||||
- repo: https://github.com/PyCQA/flake8
|
||||
rev: master
|
||||
hooks:
|
||||
- id: flake8
|
||||
args:
|
||||
- --select=F
|
||||
- repo: local
|
||||
hooks:
|
||||
- id: pylint
|
||||
name: pylint
|
||||
entry: pylint
|
||||
language: system
|
||||
types: [python]
|
||||
args:
|
||||
- --disable=R,C,W
|
||||
@@ -1,25 +0,0 @@
|
||||
from ubuntu:16.04
|
||||
|
||||
RUN apt-get update && apt-get install -y libzmq3-dev capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python-openssl
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.7.3
|
||||
RUN pyenv global 3.7.3
|
||||
RUN pyenv rehash
|
||||
|
||||
COPY requirements.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements.txt
|
||||
RUN pip install pre-commit==2.4.0 pylint==2.5.2
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
WORKDIR /project
|
||||
# TODO: Add tag to cereal
|
||||
RUN git clone https://github.com/commaai/cereal.git /project/cereal
|
||||
|
||||
COPY SConstruct .
|
||||
COPY . /project/opendbc
|
||||
|
||||
RUN rm -rf /project/opendbc/.git
|
||||
RUN scons -c && scons -j$(nproc)
|
||||
-1080
File diff suppressed because it is too large
Load Diff
@@ -1,56 +0,0 @@
|
||||
opendbc
|
||||
======
|
||||
|
||||
The project to democratize access to the decoder ring of your car.
|
||||
|
||||
|
||||
|
||||
### DBC file basics
|
||||
|
||||
A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file.
|
||||
Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews.
|
||||
|
||||
### How to start reverse engineering cars
|
||||
|
||||
[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://community.comma.ai/cabana/).
|
||||
|
||||
Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
|
||||
|
||||
### How to use reverse engineered DBC
|
||||
To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
|
||||
|
||||
### DBC file preprocessor
|
||||
|
||||
DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
|
||||
|
||||
### Good practices for contributing to opendbc
|
||||
|
||||
- Comments: the best way to store comments is to add them directly to the DBC files. For example:
|
||||
```
|
||||
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
|
||||
```
|
||||
is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages.
|
||||
|
||||
- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better.
|
||||
For example:
|
||||
```
|
||||
SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM
|
||||
```
|
||||
is better than:
|
||||
```
|
||||
SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM
|
||||
```
|
||||
However, the cleanest option is really:
|
||||
```
|
||||
SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM
|
||||
```
|
||||
|
||||
- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as:
|
||||
```
|
||||
SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM
|
||||
```
|
||||
However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is:
|
||||
```
|
||||
SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM
|
||||
```
|
||||
which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else.
|
||||
@@ -1,57 +0,0 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
zmq = 'zmq'
|
||||
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
|
||||
cereal_dir = Dir('.')
|
||||
|
||||
cpppath = [
|
||||
'#',
|
||||
'#cereal',
|
||||
"#cereal/messaging",
|
||||
"#opendbc/can",
|
||||
'/usr/lib/include',
|
||||
]
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
|
||||
ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
|
||||
|
||||
env = Environment(
|
||||
ENV=os.environ,
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Werror=implicit-function-declaration",
|
||||
"-Werror=incompatible-pointer-types",
|
||||
"-Werror=int-conversion",
|
||||
"-Werror=return-type",
|
||||
"-Werror=format-extra-args",
|
||||
] + ccflags_asan,
|
||||
LDFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags_asan,
|
||||
|
||||
CFLAGS="-std=gnu11",
|
||||
CXXFLAGS="-std=c++14",
|
||||
CPPPATH=cpppath,
|
||||
)
|
||||
|
||||
Export('env', 'zmq', 'arch')
|
||||
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_ilx_2016_can.dbc starts here"
|
||||
CM_ "acura_ilx_2016_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
|
||||
@@ -19,7 +19,7 @@ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _honda_2017.dbc starts here"
|
||||
CM_ "Imported file _honda_2017.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -251,7 +251,7 @@ VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
|
||||
VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "acura_rdx_2018_can.dbc starts here"
|
||||
CM_ "acura_rdx_2018_can.dbc starts here";
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,3 +1,7 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
|
||||
|
||||
|
||||
CM_ "Imported file _bosch_2020.dbc starts here";
|
||||
VERSION ""
|
||||
|
||||
|
||||
@@ -62,15 +66,11 @@ BO_ 232 BRAKE_HOLD: 7 XXX
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 330 STEERING_SENSORS: 8 EPS
|
||||
BO_ 342 STEERING_SENSORS: 6 EPS
|
||||
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
|
||||
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 344 ENGINE_DATA: 8 PCM
|
||||
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
|
||||
@@ -374,3 +374,60 @@ CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate o
|
||||
CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
|
||||
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
|
||||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
|
||||
CM_ "acura_rdx_2020_can.dbc starts here";
|
||||
|
||||
|
||||
BO_ 304 GAS_PEDAL_2: 8 PCM
|
||||
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
|
||||
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 419 GEARBOX: 8 PCM
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
|
||||
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
BO_ 432 STANDSTILL: 7 VSA
|
||||
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
|
||||
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
|
||||
|
||||
BO_ 446 BRAKE_MODULE: 3 VSA
|
||||
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 1302 ODOMETER: 8 XXX
|
||||
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
|
||||
|
||||
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
|
||||
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
|
||||
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
@@ -1,291 +0,0 @@
|
||||
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 EON Vector__XXX
|
||||
|
||||
|
||||
BO_ 170 AccPedal: 8 XXX
|
||||
SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX
|
||||
SG_ AcceleratorPedalPercentage : 16|16@1+ (0.01,0) [0|100] "" XXX
|
||||
SG_ Counter1 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EngineSpeed : 32|16@1- (1,0) [0|65535] "" XXX
|
||||
SG_ uknown : 7|8@0- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 404 CruiseControl: 4 XXX
|
||||
SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Counter1 : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ Counter2 : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ notCancel_0xF : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 512 CruiseControlStatus: 8 XXX
|
||||
SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 168 EngineAndBrake: 8 XXX
|
||||
SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ EngineTorque : 8|16@1- (1,0) [0|65535] "" XXX
|
||||
SG_ EngineTorqueWoInterv : 24|16@1- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 470 SteeringButtons: 2 XXX
|
||||
SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 403 DynamicCruiseControlStatus: 8 XXX
|
||||
SG_ Counter : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "mph" XXX
|
||||
|
||||
BO_ 201 SteeringWheelAngle_DSC: 8 XXX
|
||||
SG_ Counter1 : 23|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ WeirdCounter : 44|4@1+ (1,0) [0|3] "" XXX
|
||||
SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" XXX
|
||||
SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "deg" XXX
|
||||
|
||||
BO_ 206 WheelSpeeds: 8 XXX
|
||||
SG_ Wheel1 : 0|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel2 : 16|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel4 : 48|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
SG_ Wheel3 : 32|16@1- (0.0643699,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 884 WheelToleranceAdjustment: 8 XXX
|
||||
|
||||
BO_ 678 WiperSwitch: 8 XXX
|
||||
SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 304 TerminalStatus: 8 XXX
|
||||
SG_ AccOn : 23|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ IgnitionOff : 22|1@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 169 Torque2: 8 XXX
|
||||
|
||||
BO_ 184 TorqueTransmisionRequest: 8 XXX
|
||||
|
||||
BO_ 196 SteeringWheelAngle: 7 XXX
|
||||
SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
|
||||
SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [0|255] "degree/s" XXX
|
||||
|
||||
BO_ 180 WheelTorqueDriveTrain1: 8 XXX
|
||||
|
||||
BO_ 182 DynamicCruiseControlTorqueDemand: 8 XXX
|
||||
|
||||
BO_ 186 TransmissionData: 8 XXX
|
||||
|
||||
BO_ 191 RequestedWheelTorqueDriveTrainActiveCruiseControl: 8 XXX
|
||||
SG_ Counter : 11|4@0- (1,0) [0|255] "" XXX
|
||||
SG_ TorqueReq : 16|11@1+ (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 414 Status_DSC: 8 XXX
|
||||
|
||||
BO_ 416 Speed: 8 XXX
|
||||
SG_ VehicleSpeed : 0|12@1+ (0.103,0) [0|255] "kph" XXX
|
||||
|
||||
BO_ 418 TransimissionData2: 8 XXX
|
||||
|
||||
BO_ 690 WheelPressure: 8 XXX
|
||||
|
||||
BO_ 691 AccelerationData: 8 XXX
|
||||
|
||||
BO_ 408 GearSelectorSwitch: 8 XXX
|
||||
SG_ Gear : 0|8@1+ (1,0) [0|0] "" Vector__XXX
|
||||
|
||||
BO_ 422 Distance: 8 XXX
|
||||
|
||||
BO_ 436 InstrumentClusterStatus_KOMBI: 8 XXX
|
||||
|
||||
BO_ 464 EngineData: 8 XXX
|
||||
|
||||
BO_ 945 TransmissionData3: 8 XXX
|
||||
|
||||
BO_ 200 SteeringWheelAngle_slow: 8 XXX
|
||||
SG_ SteeringPosition : 0|16@1- (0.0439453125,0) [-600|600] "degree" XXX
|
||||
SG_ SteeringSpeed : 24|16@1- (0.0439453125,0) [-65535|65535] "degree/s" XXX
|
||||
|
||||
BO_ 466 TransmissionDataDisplay: 8 XXX
|
||||
|
||||
BO_ 437 HeatFlow_LoadMomentClimate: 8 XXX
|
||||
|
||||
BO_ 1152 NetworkManagment1: 8 XXX
|
||||
|
||||
BO_ 1170 NetworkManagment2: 8 XXX
|
||||
|
||||
BO_ 1175 NetworkManagment3: 8 XXX
|
||||
|
||||
BO_ 1176 NetworkManagment4: 8 XXX
|
||||
|
||||
BO_ 1193 NetworkManagment5: 8 XXX
|
||||
|
||||
BO_ 1246 NetworkManagment6: 8 XXX
|
||||
|
||||
BO_ 438 HeatFlowEngine: 8 XXX
|
||||
|
||||
BO_ 784 AmbientTemperature: 8 XXX
|
||||
|
||||
BO_ 821 ElectricFuelPumpStatus: 8 XXX
|
||||
|
||||
BO_ 1007 EngineOBD_data: 8 XXX
|
||||
|
||||
BO_ 1432 ServicesDKG: 8 XXX
|
||||
|
||||
BO_ 309 CrashDisconnectControl: 8 XXX
|
||||
|
||||
BO_ 502 TurnSignals: 2 XXX
|
||||
SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 514 Dimming: 8 XXX
|
||||
|
||||
BO_ 538 LampsCondition: 8 XXX
|
||||
|
||||
BO_ 550 RainSensorWiperSpeed: 8 XXX
|
||||
|
||||
BO_ 578 ClimateFrontStatus: 8 XXX
|
||||
|
||||
BO_ 704 LCD_lighting: 8 XXX
|
||||
|
||||
BO_ 758 LightControl: 8 XXX
|
||||
|
||||
BO_ 760 Time_Date: 8 XXX
|
||||
|
||||
BO_ 762 SeatBeltContact: 8 XXX
|
||||
|
||||
BO_ 764 TrunkStatus: 8 XXX
|
||||
|
||||
BO_ 797 TirePressureStatus: 8 XXX
|
||||
|
||||
BO_ 816 Range_Mileage: 8 XXX
|
||||
|
||||
BO_ 823 StatusFuelControl: 8 XXX
|
||||
|
||||
BO_ 897 EngineOilLevelStatus: 8 XXX
|
||||
|
||||
BO_ 940 Terminal30Eerror: 8 XXX
|
||||
|
||||
BO_ 947 PowerManagmentConsumptionControl: 8 XXX
|
||||
|
||||
BO_ 948 PowerBatteryVoltage: 8 XXX
|
||||
SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 958 PowerRunningTime: 8 XXX
|
||||
|
||||
BO_ 1408 ServicesKGM: 8 XXX
|
||||
|
||||
BO_ 1426 ServicesDME: 8 XXX
|
||||
|
||||
BO_ 1449 ServicesDSC: 8 XXX
|
||||
|
||||
BO_ 1504 ServicesKOMBI: 8 XXX
|
||||
|
||||
BO_ 1522 ServicesKBM: 8 XXX
|
||||
|
||||
BO_ 209 Accelerometer: 8 XXX
|
||||
SG_ LateralAcceleration : 0|16@1- (1,0) [0|7] "" XXX
|
||||
SG_ LongitudalAcceleration : 32|16@1- (1,0) [0|65535] "" XXX
|
||||
|
||||
BO_ 172 WheelTorqueDrivetrain2: 8 XXX
|
||||
|
||||
BO_ 128 Unknown80: 5 XXX
|
||||
SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ State1 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter1 : 31|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 320 Unknown140: 2 XXX
|
||||
SG_ State : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 212 Unknown_d4: 8 XXX
|
||||
SG_ State1 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter2 : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 205 Unknown_cd: 8 XXX
|
||||
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_3 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_4 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_5 : 39|8@0- (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_6 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ Counter1 : 55|4@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ NEW_SIGNAL_7 : 63|8@0- (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 1577 NEW_MSG_1: 8 XXX
|
||||
|
||||
|
||||
|
||||
|
||||
CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control drives";
|
||||
CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal";
|
||||
CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted";
|
||||
CM_ SG_ 170 EngineSpeed "It's hard to say that is even a rate";
|
||||
CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed";
|
||||
CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed";
|
||||
CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed";
|
||||
CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed";
|
||||
CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed";
|
||||
CM_ SG_ 404 Counter1 "It accelerates when requests are being sent";
|
||||
CM_ SG_ 404 Counter2 "It accelerates when requests are being sent";
|
||||
CM_ SG_ 404 notCancel_0xF "0xF unless cancel is requested then 0x0";
|
||||
CM_ SG_ 168 Brake_active2 "";
|
||||
CM_ SG_ 168 BrakePressed "Brake when driver presses the brake";
|
||||
CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque";
|
||||
CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention";
|
||||
CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target";
|
||||
CM_ SG_ 408 Gear "This is just provision, needs to be reverse engineered";
|
||||
CM_ SG_ 502 TurnSignalIdle "Turn signal off";
|
||||
CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning";
|
||||
CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker";
|
||||
CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker";
|
||||
CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk";
|
||||
VAL_ 408 Gear 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ;
|
||||
@@ -1,95 +0,0 @@
|
||||
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_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM
|
||||
|
||||
|
||||
|
||||
BO_ 823 PACMParkAssitCmd: 7 NEO
|
||||
SG_ RollingCounter : 35|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] "" NEO
|
||||
SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 560 EBCMRegen: 6 K17_EBCM
|
||||
SG_ Regen : 1|10@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 338 ASCMLKASteeringCmd: 6 NEO
|
||||
SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO
|
||||
SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
|
||||
SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 340 ASCMBLKASteeringCmd: 6 NEO
|
||||
SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO
|
||||
SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO
|
||||
SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO
|
||||
SG_ LKASteeringCmdActive2 : 35|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM
|
||||
SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
|
||||
SG_ RollingCounter : 37|6@0+ (1,0) [0|0] "" NEO
|
||||
SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO
|
||||
SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO
|
||||
SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO
|
||||
|
||||
BO_TX_BU_ 823 : K43_PSCM,NEO;
|
||||
BO_TX_BU_ 789 : NEO,K17_EBCM;
|
||||
|
||||
|
||||
CM_ BU_ K182_PACM "Parking Assist Control Module";
|
||||
CM_ BU_ K43_PSCM "Power Steering Control Module";
|
||||
CM_ BU_ K17_EBCM "Electronic Brake Control Module";
|
||||
CM_ BU_ NEO "Comma NEO";
|
||||
CM_ BU_ K124_ASCM "Active Safety Control Module";
|
||||
BA_DEF_ "UseGMParameterIDs" INT 0 0;
|
||||
BA_DEF_ "ProtocolType" STRING ;
|
||||
BA_DEF_ "BusType" STRING ;
|
||||
BA_DEF_DEF_ "UseGMParameterIDs" 1;
|
||||
BA_DEF_DEF_ "ProtocolType" "GMLAN";
|
||||
BA_DEF_DEF_ "BusType" "";
|
||||
BA_ "UseGMParameterIDs" 0;
|
||||
BA_ "BusType" "CAN";
|
||||
BA_ "ProtocolType" "GMLAN";
|
||||
|
||||
VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ;
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user