mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-25 18:23:57 +08:00
Compare commits
2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Vehicle Researcher
|
55c44bf34e | ||
|
Vehicle Researcher
|
aed724beda |
+9
-4
@@ -1,4 +1,5 @@
|
||||
venv/
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
@@ -6,7 +7,7 @@ venv/
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
.vscode
|
||||
.vscode*
|
||||
model2.png
|
||||
a.out
|
||||
|
||||
@@ -31,6 +32,7 @@ a.out
|
||||
*.vcd
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
persist
|
||||
board/obj/
|
||||
@@ -42,9 +44,11 @@ selfdrive/ui/_ui
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/loggerd/bootlog
|
||||
selfdrive/sensord/_gpsd
|
||||
selfdrive/sensord/_sensord
|
||||
selfdrive/camerad/camerad
|
||||
selfdrive/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
@@ -55,8 +59,6 @@ notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
apks
|
||||
openpilot-apks
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
@@ -67,4 +69,7 @@ pandaextra
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma.sh
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
||||
Vendored
+73
-20
@@ -1,25 +1,42 @@
|
||||
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', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
|
||||
|
||||
set -e
|
||||
|
||||
export CI=1
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
if [ -f /EON ]; then
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
fi
|
||||
|
||||
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
|
||||
${cmd}
|
||||
exit 0
|
||||
|
||||
EOF"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 60, unit: 'MINUTES') {
|
||||
phone(device_ip, "kill old processes", "pkill -f comma || true")
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
@@ -40,7 +57,7 @@ pipeline {
|
||||
|
||||
stages {
|
||||
|
||||
stage('Release Build') {
|
||||
stage('Build release2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
@@ -104,19 +121,18 @@ pipeline {
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
|
||||
stage('Devel Build') {
|
||||
environment {
|
||||
CI_PUSH = "${env.BRANCH_NAME == 'master' ? 'master-ci' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
phone_steps("eon-build", [
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["build devel", "cd release && CI_PUSH=${env.CI_PUSH} ./build_devel.sh"],
|
||||
["test openpilot", "nosetests -s selfdrive/test/test_openpilot.py"],
|
||||
["test cpu usage", "cd selfdrive/test/ && ./test_cpu_usage.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
["test spinner build", "cd selfdrive/ui/spinner && make clean && make"],
|
||||
["test text window build", "cd selfdrive/ui/text && make clean && make"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -124,7 +140,8 @@ pipeline {
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["camerad/modeld replay", "QCOM_REPLAY=1 scons -j4 && cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
|
||||
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
@@ -135,13 +152,48 @@ pipeline {
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "CI=1 python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
//["test camerad", "CI=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Tici Build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "SCONS_CACHE=1 scons -j16"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "SCONS_CACHE=1 scons -j16"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Tici camerad') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "SCONS_CACHE=1 scons -j16"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -158,3 +210,4 @@ pipeline {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -66,7 +66,7 @@ Supported Cars
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2020 | All | Stock | 0mph | 3mph |
|
||||
| Acura | RDX 2020-21 | 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 |
|
||||
@@ -77,16 +77,17 @@ Supported Cars
|
||||
| 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 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Insight 2019-21 | 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 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020 | All | Stock | 0mph | 0mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | 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 2018 | LSS | Stock<sup>3</sup>| 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 |
|
||||
@@ -96,15 +97,16 @@ Supported Cars
|
||||
| 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 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2016-18, 2020-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | 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 | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | 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 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | 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 |
|
||||
@@ -113,6 +115,7 @@ Supported Cars
|
||||
| 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 | Prius Prime 2021 | 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 |
|
||||
@@ -129,6 +132,7 @@ Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2015, 2017 | Prestige | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
@@ -136,7 +140,7 @@ Community Maintained Cars and Features
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| 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 |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
@@ -148,27 +152,43 @@ Community Maintained Cars and Features
|
||||
| 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 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | 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 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-19, 2021 | 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 | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2020 | ProPILOT | 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 |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| e-Golf 2014, 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-21 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<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 />
|
||||
<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
|
||||
|
||||
Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)
|
||||
|
||||
@@ -263,7 +283,7 @@ By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privac
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more detail.
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
@@ -305,7 +325,6 @@ And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
Directory Structure
|
||||
------
|
||||
.
|
||||
├── apk # The apk files used for the UI
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of openpilot
|
||||
@@ -331,8 +350,6 @@ Directory Structure
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
To understand how the services interact, see `cereal/service_list.yaml`.
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
|
||||
+31
@@ -1,3 +1,34 @@
|
||||
Version 0.8.3 (2021-04-01)
|
||||
========================
|
||||
* New model
|
||||
* Trained on new diverse dataset from 2000+ users from 30+ countries
|
||||
* Trained with improved segnet from the comma-pencil community project
|
||||
* 🥬 Dramatically improved end-to-end lateral performance 🥬
|
||||
* Toggle added to disable the use of lanelines
|
||||
* NEOS update: update packages and support for new UI
|
||||
* New offroad UI based on Qt
|
||||
* Default SSH key only used for setup
|
||||
* Kia Ceed 2019 support thanks to ZanZaD13!
|
||||
* Kia Seltos 2021 support thanks to speedking456!
|
||||
* Added support for many Volkswagen and Škoda models thanks to jyoung8607!
|
||||
|
||||
Version 0.8.2 (2021-02-26)
|
||||
========================
|
||||
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
|
||||
* Use model heading prediction for smoother lateral control
|
||||
* Smarter actuator delay compensation
|
||||
* Improve qcamera resolution for improved video in explorer and connect
|
||||
* Adjust maximum engagement speed to better fit the model's training distribution
|
||||
* New driver monitoring model trained with 3x more diverse data
|
||||
* Improved face detection with masks
|
||||
* More predictable DM alerts when visibility is bad
|
||||
* Rewritten video streaming between openpilot processes
|
||||
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
|
||||
* Audi A3 2015 and 2017 support thanks to keeleysam!
|
||||
* Nissan Altima 2020 support thanks to avolmensky!
|
||||
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
|
||||
* Toyota Camry Hybrid 2021 support thanks to alancyau!
|
||||
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
|
||||
+129
-29
@@ -17,6 +17,28 @@ AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--mpc-generate',
|
||||
action='store_true',
|
||||
help='regenerates the mpc sources')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
@@ -27,11 +49,12 @@ if arch == "aarch64" and TICI:
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv = {
|
||||
"LD_LIBRARY_PATH": '/data/data/com.termux/files/usr/lib',
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
@@ -43,6 +66,7 @@ if arch == "aarch64" or arch == "larch64":
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
@@ -71,17 +95,10 @@ if arch == "aarch64" or arch == "larch64":
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
cxxflags += ["-DQCOM_REPLAY"]
|
||||
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
|
||||
lenv = {
|
||||
"PATH": "#external/bin:" + os.environ['PATH'],
|
||||
}
|
||||
cpppath = [
|
||||
"#external/tensorflow/include",
|
||||
]
|
||||
cpppath = []
|
||||
|
||||
if arch == "Darwin":
|
||||
libpath = [
|
||||
@@ -89,15 +106,16 @@ else:
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/local/lib",
|
||||
"/usr/local/opt/openssl/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += ["/usr/local/opt/openssl/include"]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#external/tensorflow/lib",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
@@ -106,7 +124,6 @@ else:
|
||||
|
||||
rpath = [
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
"external/tensorflow/lib",
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
@@ -115,11 +132,14 @@ else:
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags_asan = ["-fsanitize=address"]
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags_asan = []
|
||||
ldflags_asan = []
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
@@ -138,11 +158,12 @@ env = Environment(
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags_asan,
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#selfdrive",
|
||||
"#phonelibs/catch2/include",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
@@ -155,6 +176,7 @@ env = Environment(
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/qrcode",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
"#selfdrive/camerad",
|
||||
@@ -163,14 +185,15 @@ env = Environment(
|
||||
"#selfdrive/modeld",
|
||||
"#selfdrive/sensord",
|
||||
"#selfdrive/ui",
|
||||
"#cereal/messaging",
|
||||
"#cereal",
|
||||
"#cereal/messaging",
|
||||
"#cereal/visionipc",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags_asan,
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
@@ -188,7 +211,7 @@ env = Environment(
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
if GetOption('test'):
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
@@ -239,6 +262,73 @@ else:
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
|
||||
if arch != "aarch64":
|
||||
qt_modules += ["DBus"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
elif arch == "aarch64":
|
||||
qt_env['QTDIR'] = "/system/comma/usr"
|
||||
qt_dirs = [
|
||||
f"/system/comma/usr/include/qt",
|
||||
]
|
||||
qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
qt_libs += ['EGL', 'GLESv3', 'c++_shared']
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
|
||||
]
|
||||
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_QUICK_LIB",
|
||||
"-DQT_QUICKWIDGETS_LIB",
|
||||
"-DQT_QML_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui']
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
Export('qt_env')
|
||||
|
||||
|
||||
# still needed for apks
|
||||
zmq = 'zmq'
|
||||
Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
@@ -251,26 +341,33 @@ if SHARED:
|
||||
else:
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
visionipc = [File('#cereal/libvisionipc.a')]
|
||||
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_visionipc', '_gpucommon', '_gpu_libs')
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, visionipc, gpucommon = abspath(common), abspath(visionipc), abspath(gpucommon)
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
visionipc = _visionipc
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'visionipc', 'gpucommon')
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
|
||||
|
||||
# Build openpilot
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
SConscript(['panda/board/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['common/transformations/SConscript'])
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
@@ -294,6 +391,9 @@ SConscript(['selfdrive/ui/SConscript'])
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
if arch == "x86_64":
|
||||
SConscript(['tools/lib/index_log/SConscript'])
|
||||
if real_arch == "x86_64":
|
||||
SConscript(['tools/nui/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
|
||||
Binary file not shown.
+7
-1
@@ -6,10 +6,16 @@ package-lock.json
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
libcereal*.a
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
.mypy_cache/
|
||||
catch2/
|
||||
|
||||
+37
-16
@@ -1,4 +1,4 @@
|
||||
Import('env', 'envCython', 'arch', 'zmq')
|
||||
Import('env', 'envCython', 'arch', 'zmq', 'QCOM_REPLAY')
|
||||
|
||||
import shutil
|
||||
|
||||
@@ -6,30 +6,28 @@ 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?
|
||||
# Build cereal
|
||||
|
||||
schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
|
||||
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'],
|
||||
env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
|
||||
schema_files,
|
||||
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'],
|
||||
schema_files,
|
||||
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++',
|
||||
])
|
||||
cereal_objects = env.SharedObject([f'gen/cpp/{s}.c++' for s in schema_files])
|
||||
|
||||
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')
|
||||
# Build messaging
|
||||
|
||||
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
|
||||
|
||||
messaging_objects = env.SharedObject([
|
||||
'messaging/messaging.cc',
|
||||
@@ -52,10 +50,33 @@ if arch == "aarch64":
|
||||
env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
Depends('messaging/bridge.cc', services_h)
|
||||
|
||||
# different target?
|
||||
#env.Program('messaging/demo', ['messaging/demo.cc'], LIBS=[messaging_lib, 'zmq'])
|
||||
|
||||
envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging_lib, "zmq"])
|
||||
|
||||
|
||||
# Build Vision IPC
|
||||
vipc_sources = [
|
||||
'visionipc/ipc.cc',
|
||||
'visionipc/visionipc_server.cc',
|
||||
'visionipc/visionipc_client.cc',
|
||||
'visionipc/visionbuf.cc',
|
||||
]
|
||||
|
||||
if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
|
||||
vipc_sources += ['visionipc/visionbuf_ion.cc']
|
||||
else:
|
||||
vipc_sources += ['visionipc/visionbuf_cl.cc']
|
||||
|
||||
vipc_objects = env.SharedObject(vipc_sources)
|
||||
vipc = env.Library('visionipc', vipc_objects)
|
||||
|
||||
|
||||
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
|
||||
if arch == "Darwin":
|
||||
del libs[libs.index('OpenCL')]
|
||||
envCython['FRAMEWORKS'] += ['OpenCL']
|
||||
envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
|
||||
|
||||
|
||||
if GetOption('test'):
|
||||
env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib])
|
||||
env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL'])
|
||||
|
||||
+39
-26
@@ -11,6 +11,8 @@ $Java.outerClassname("Car");
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
@@ -21,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
# TODO: copy from error list
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
@@ -36,7 +37,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
buttonEnable @12;
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCanError @15;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
@@ -73,13 +73,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
internetConnectivityNeeded @61;
|
||||
communityFeatureDisallowed @62;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
radarCommIssue @67;
|
||||
driverMonitorLowAcc @68;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
@@ -100,9 +98,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
gpsMalfunction @94;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
|
||||
startupOneplus @82;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
@@ -113,11 +114,13 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -125,7 +128,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# car speed
|
||||
@@ -146,8 +148,8 @@ struct CarState {
|
||||
brakeLights @19 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
@@ -235,6 +237,8 @@ struct CarState {
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
@@ -278,10 +282,6 @@ struct CarControl {
|
||||
enabled @0 :Bool;
|
||||
active @7 :Bool;
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
@@ -293,7 +293,7 @@ struct CarControl {
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
steerAngle @3: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
@@ -329,8 +329,6 @@ struct CarControl {
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
chimeEngage @1;
|
||||
chimeDisengage @2;
|
||||
@@ -342,6 +340,10 @@ struct CarControl {
|
||||
chimeWarning2Repeat @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
@@ -358,6 +360,7 @@ struct CarParams {
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
maxSteeringAngleDeg @54 :Float32;
|
||||
safetyModel @9 :SafetyModel;
|
||||
safetyModelPassive @42 :SafetyModel = silent;
|
||||
safetyParam @10 :Int16;
|
||||
@@ -370,11 +373,11 @@ struct CarParams {
|
||||
brakeMaxV @16 :List(Float32);
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] running weight
|
||||
wheelbase @18 :Float32; # [m] distance from rear to front axle
|
||||
centerToFront @19 :Float32; # [m] GC distance to front axle
|
||||
steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles
|
||||
steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0)
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
@@ -406,7 +409,6 @@ struct CarParams {
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
isPandaBlack @39: Bool;
|
||||
dashcamOnly @41: Bool;
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
@@ -438,10 +440,19 @@ struct CarParams {
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGain @0 :Float32;
|
||||
innerLoopGain @1 :Float32;
|
||||
timeConstant @2 :Float32;
|
||||
actuatorEffectiveness @3 :Float32;
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
@@ -539,4 +550,6 @@ struct CarParams {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
isPandaBlackDEPRECATED @39: Bool;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,865 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "./include/java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Legacy");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
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;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct QcomGnss @0xde94674b07ae51c1 {
|
||||
logTs @0 :UInt64;
|
||||
union {
|
||||
measurementReport @1 :MeasurementReport;
|
||||
clockReport @2 :ClockReport;
|
||||
drMeasurementReport @3 :DrMeasurementReport;
|
||||
drSvPoly @4 :DrSvPolyReport;
|
||||
rawLog @5 :Data;
|
||||
}
|
||||
|
||||
enum MeasurementSource @0xd71a12b6faada7ee {
|
||||
gps @0;
|
||||
glonass @1;
|
||||
beidou @2;
|
||||
}
|
||||
|
||||
enum SVObservationState @0xe81e829a0d6c83e9 {
|
||||
idle @0;
|
||||
search @1;
|
||||
searchVerify @2;
|
||||
bitEdge @3;
|
||||
trackVerify @4;
|
||||
track @5;
|
||||
restart @6;
|
||||
dpo @7;
|
||||
glo10msBe @8;
|
||||
glo10msAt @9;
|
||||
}
|
||||
|
||||
struct MeasurementStatus @0xe501010e1bcae83b {
|
||||
subMillisecondIsValid @0 :Bool;
|
||||
subBitTimeIsKnown @1 :Bool;
|
||||
satelliteTimeIsKnown @2 :Bool;
|
||||
bitEdgeConfirmedFromSignal @3 :Bool;
|
||||
measuredVelocity @4 :Bool;
|
||||
fineOrCoarseVelocity @5 :Bool;
|
||||
lockPointValid @6 :Bool;
|
||||
lockPointPositive @7 :Bool;
|
||||
lastUpdateFromDifference @8 :Bool;
|
||||
lastUpdateFromVelocityDifference @9 :Bool;
|
||||
strongIndicationOfCrossCorelation @10 :Bool;
|
||||
tentativeMeasurement @11 :Bool;
|
||||
measurementNotUsable @12 :Bool;
|
||||
sirCheckIsNeeded @13 :Bool;
|
||||
probationMode @14 :Bool;
|
||||
|
||||
glonassMeanderBitEdgeValid @15 :Bool;
|
||||
glonassTimeMarkValid @16 :Bool;
|
||||
|
||||
gpsRoundRobinRxDiversity @17 :Bool;
|
||||
gpsRxDiversity @18 :Bool;
|
||||
gpsLowBandwidthRxDiversityCombined @19 :Bool;
|
||||
gpsHighBandwidthNu4 @20 :Bool;
|
||||
gpsHighBandwidthNu8 @21 :Bool;
|
||||
gpsHighBandwidthUniform @22 :Bool;
|
||||
multipathIndicator @23 :Bool;
|
||||
|
||||
imdJammingIndicator @24 :Bool;
|
||||
lteB13TxJammingIndicator @25 :Bool;
|
||||
freshMeasurementIndicator @26 :Bool;
|
||||
|
||||
multipathEstimateIsValid @27 :Bool;
|
||||
directionIsValid @28 :Bool;
|
||||
}
|
||||
|
||||
struct MeasurementReport @0xf580d7d86b7b8692 {
|
||||
source @0 :MeasurementSource;
|
||||
|
||||
fCount @1 :UInt32;
|
||||
|
||||
gpsWeek @2 :UInt16;
|
||||
glonassCycleNumber @3 :UInt8;
|
||||
glonassNumberOfDays @4 :UInt16;
|
||||
|
||||
milliseconds @5 :UInt32;
|
||||
timeBias @6 :Float32;
|
||||
clockTimeUncertainty @7 :Float32;
|
||||
clockFrequencyBias @8 :Float32;
|
||||
clockFrequencyUncertainty @9 :Float32;
|
||||
|
||||
sv @10 :List(SV);
|
||||
|
||||
struct SV @0xf10c595ae7bb2c27 {
|
||||
svId @0 :UInt8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
gpsParityErrorCount @5 :UInt16;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
glonassHemmingErrorCount @6 :UInt8;
|
||||
filterStages @7 :UInt8;
|
||||
carrierNoise @8 :UInt16;
|
||||
latency @9 :Int16;
|
||||
predetectInterval @10 :UInt8;
|
||||
postdetections @11 :UInt16;
|
||||
|
||||
unfilteredMeasurementIntegral @12 :UInt32;
|
||||
unfilteredMeasurementFraction @13 :Float32;
|
||||
unfilteredTimeUncertainty @14 :Float32;
|
||||
unfilteredSpeed @15 :Float32;
|
||||
unfilteredSpeedUncertainty @16 :Float32;
|
||||
measurementStatus @17 :MeasurementStatus;
|
||||
multipathEstimate @18 :UInt32;
|
||||
azimuth @19 :Float32;
|
||||
elevation @20 :Float32;
|
||||
carrierPhaseCyclesIntegral @21 :Int32;
|
||||
carrierPhaseCyclesFraction @22 :UInt16;
|
||||
fineSpeed @23 :Float32;
|
||||
fineSpeedUncertainty @24 :Float32;
|
||||
cycleSlipCount @25 :UInt8;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct ClockReport @0xca965e4add8f4f0b {
|
||||
hasFCount @0 :Bool;
|
||||
fCount @1 :UInt32;
|
||||
|
||||
hasGpsWeek @2 :Bool;
|
||||
gpsWeek @3 :UInt16;
|
||||
hasGpsMilliseconds @4 :Bool;
|
||||
gpsMilliseconds @5 :UInt32;
|
||||
gpsTimeBias @6 :Float32;
|
||||
gpsClockTimeUncertainty @7 :Float32;
|
||||
gpsClockSource @8 :UInt8;
|
||||
|
||||
hasGlonassYear @9 :Bool;
|
||||
glonassYear @10 :UInt8;
|
||||
hasGlonassDay @11 :Bool;
|
||||
glonassDay @12 :UInt16;
|
||||
hasGlonassMilliseconds @13 :Bool;
|
||||
glonassMilliseconds @14 :UInt32;
|
||||
glonassTimeBias @15 :Float32;
|
||||
glonassClockTimeUncertainty @16 :Float32;
|
||||
glonassClockSource @17 :UInt8;
|
||||
|
||||
bdsWeek @18 :UInt16;
|
||||
bdsMilliseconds @19 :UInt32;
|
||||
bdsTimeBias @20 :Float32;
|
||||
bdsClockTimeUncertainty @21 :Float32;
|
||||
bdsClockSource @22 :UInt8;
|
||||
|
||||
galWeek @23 :UInt16;
|
||||
galMilliseconds @24 :UInt32;
|
||||
galTimeBias @25 :Float32;
|
||||
galClockTimeUncertainty @26 :Float32;
|
||||
galClockSource @27 :UInt8;
|
||||
|
||||
clockFrequencyBias @28 :Float32;
|
||||
clockFrequencyUncertainty @29 :Float32;
|
||||
frequencySource @30 :UInt8;
|
||||
gpsLeapSeconds @31 :UInt8;
|
||||
gpsLeapSecondsUncertainty @32 :UInt8;
|
||||
gpsLeapSecondsSource @33 :UInt8;
|
||||
|
||||
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
|
||||
gpsToBdsTimeBiasMilliseconds @36 :Float32;
|
||||
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
|
||||
bdsToGloTimeBiasMilliseconds @38 :Float32;
|
||||
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
|
||||
gpsToGalTimeBiasMilliseconds @40 :Float32;
|
||||
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
|
||||
galToGloTimeBiasMilliseconds @42 :Float32;
|
||||
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
|
||||
galToBdsTimeBiasMilliseconds @44 :Float32;
|
||||
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
|
||||
|
||||
hasRtcTime @46 :Bool;
|
||||
systemRtcTime @47 :UInt32;
|
||||
fCountOffset @48 :UInt32;
|
||||
lpmRtcCount @49 :UInt32;
|
||||
clockResets @50 :UInt32;
|
||||
}
|
||||
|
||||
struct DrMeasurementReport @0x8053c39445c6c75c {
|
||||
|
||||
reason @0 :UInt8;
|
||||
seqNum @1 :UInt8;
|
||||
seqMax @2 :UInt8;
|
||||
rfLoss @3 :UInt16;
|
||||
|
||||
systemRtcValid @4 :Bool;
|
||||
fCount @5 :UInt32;
|
||||
clockResets @6 :UInt32;
|
||||
systemRtcTime @7 :UInt64;
|
||||
|
||||
gpsLeapSeconds @8 :UInt8;
|
||||
gpsLeapSecondsUncertainty @9 :UInt8;
|
||||
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
|
||||
|
||||
gpsWeek @12 :UInt16;
|
||||
gpsMilliseconds @13 :UInt32;
|
||||
gpsTimeBiasMs @14 :UInt32;
|
||||
gpsClockTimeUncertaintyMs @15 :UInt32;
|
||||
gpsClockSource @16 :UInt8;
|
||||
|
||||
glonassClockSource @17 :UInt8;
|
||||
glonassYear @18 :UInt8;
|
||||
glonassDay @19 :UInt16;
|
||||
glonassMilliseconds @20 :UInt32;
|
||||
glonassTimeBias @21 :Float32;
|
||||
glonassClockTimeUncertainty @22 :Float32;
|
||||
|
||||
clockFrequencyBias @23 :Float32;
|
||||
clockFrequencyUncertainty @24 :Float32;
|
||||
frequencySource @25 :UInt8;
|
||||
|
||||
source @26 :MeasurementSource;
|
||||
|
||||
sv @27 :List(SV);
|
||||
|
||||
struct SV @0xf08b81df8cbf459c {
|
||||
svId @0 :UInt8;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
filterStages @5 :UInt8;
|
||||
predetectInterval @6 :UInt8;
|
||||
cycleSlipCount @7 :UInt8;
|
||||
postdetections @8 :UInt16;
|
||||
|
||||
measurementStatus @9 :MeasurementStatus;
|
||||
|
||||
carrierNoise @10 :UInt16;
|
||||
rfLoss @11 :UInt16;
|
||||
latency @12 :Int16;
|
||||
|
||||
filteredMeasurementFraction @13 :Float32;
|
||||
filteredMeasurementIntegral @14 :UInt32;
|
||||
filteredTimeUncertainty @15 :Float32;
|
||||
filteredSpeed @16 :Float32;
|
||||
filteredSpeedUncertainty @17 :Float32;
|
||||
|
||||
unfilteredMeasurementFraction @18 :Float32;
|
||||
unfilteredMeasurementIntegral @19 :UInt32;
|
||||
unfilteredTimeUncertainty @20 :Float32;
|
||||
unfilteredSpeed @21 :Float32;
|
||||
unfilteredSpeedUncertainty @22 :Float32;
|
||||
|
||||
multipathEstimate @23 :UInt32;
|
||||
azimuth @24 :Float32;
|
||||
elevation @25 :Float32;
|
||||
dopplerAcceleration @26 :Float32;
|
||||
fineSpeed @27 :Float32;
|
||||
fineSpeedUncertainty @28 :Float32;
|
||||
|
||||
carrierPhase @29 :Float64;
|
||||
fCount @30 :UInt32;
|
||||
|
||||
parityErrorCount @31 :UInt16;
|
||||
goodParity @32 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct DrSvPolyReport @0xb1fb80811a673270 {
|
||||
svId @0 :UInt16;
|
||||
frequencyIndex @1 :Int8;
|
||||
|
||||
hasPosition @2 :Bool;
|
||||
hasIono @3 :Bool;
|
||||
hasTropo @4 :Bool;
|
||||
hasElevation @5 :Bool;
|
||||
polyFromXtra @6 :Bool;
|
||||
hasSbasIono @7 :Bool;
|
||||
|
||||
iode @8 :UInt16;
|
||||
t0 @9 :Float64;
|
||||
xyz0 @10 :List(Float64);
|
||||
xyzN @11 :List(Float64);
|
||||
other @12 :List(Float32);
|
||||
|
||||
positionUncertainty @13 :Float32;
|
||||
ionoDelay @14 :Float32;
|
||||
ionoDot @15 :Float32;
|
||||
sbasIonoDelay @16 :Float32;
|
||||
sbasIonoDot @17 :Float32;
|
||||
tropoDelay @18 :Float32;
|
||||
elevation @19 :Float32;
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
+304
-1091
File diff suppressed because it is too large
Load Diff
@@ -5,9 +5,10 @@
|
||||
#include <csignal>
|
||||
#include <cerrno>
|
||||
|
||||
|
||||
#include "services.h"
|
||||
#include "impl_msgq.hpp"
|
||||
|
||||
|
||||
volatile sig_atomic_t msgq_do_exit = 0;
|
||||
|
||||
void sig_handler(int signal) {
|
||||
@@ -15,14 +16,21 @@ void sig_handler(int signal) {
|
||||
msgq_do_exit = 1;
|
||||
}
|
||||
|
||||
static bool service_exists(std::string path){
|
||||
for (const auto& it : services) {
|
||||
if (it.name == path) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
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"){
|
||||
if (endpoint == "roadCameraState" || endpoint == "driverCameraState" || endpoint == "wideRoadCameraState"){
|
||||
sz *= 10;
|
||||
}
|
||||
#endif
|
||||
|
||||
return sz;
|
||||
}
|
||||
@@ -61,10 +69,14 @@ MSGQMessage::~MSGQMessage() {
|
||||
this->close();
|
||||
}
|
||||
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
assert(context);
|
||||
assert(address == "127.0.0.1");
|
||||
|
||||
if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
@@ -150,9 +162,13 @@ MSGQSubSocket::~MSGQSubSocket(){
|
||||
}
|
||||
}
|
||||
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint){
|
||||
int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
assert(context);
|
||||
|
||||
if (check_endpoint && !service_exists(std::string(endpoint))){
|
||||
std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl;
|
||||
}
|
||||
|
||||
q = new msgq_queue_t;
|
||||
int r = msgq_new_queue(q, endpoint.c_str(), get_size(endpoint));
|
||||
if (r != 0){
|
||||
|
||||
@@ -34,7 +34,7 @@ private:
|
||||
msgq_queue_t * q = NULL;
|
||||
int timeout;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return (void*)q;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
@@ -45,7 +45,7 @@ class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
~MSGQPubSocket();
|
||||
|
||||
@@ -54,7 +54,7 @@ ZMQMessage::~ZMQMessage() {
|
||||
}
|
||||
|
||||
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate){
|
||||
int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
@@ -71,7 +71,11 @@ int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string ad
|
||||
zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
|
||||
|
||||
full_endpoint = "tcp://" + address + ":";
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_connect(sock, full_endpoint.c_str());
|
||||
}
|
||||
@@ -103,14 +107,18 @@ ZMQSubSocket::~ZMQSubSocket(){
|
||||
zmq_close(sock);
|
||||
}
|
||||
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint){
|
||||
int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){
|
||||
sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
|
||||
if (sock == NULL){
|
||||
return -1;
|
||||
}
|
||||
|
||||
full_endpoint = "tcp://*:";
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
if (check_endpoint){
|
||||
full_endpoint += std::to_string(get_port(endpoint));
|
||||
} else {
|
||||
full_endpoint += endpoint;
|
||||
}
|
||||
|
||||
return zmq_bind(sock, full_endpoint.c_str());
|
||||
}
|
||||
|
||||
@@ -32,7 +32,7 @@ private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false);
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return sock;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
@@ -44,7 +44,7 @@ private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint);
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
~ZMQPubSocket();
|
||||
|
||||
@@ -8,9 +8,13 @@ const bool MUST_USE_ZMQ = true;
|
||||
const bool MUST_USE_ZMQ = false;
|
||||
#endif
|
||||
|
||||
bool messaging_use_zmq(){
|
||||
return std::getenv("ZMQ") || MUST_USE_ZMQ;
|
||||
}
|
||||
|
||||
Context * Context::create(){
|
||||
Context * c;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
c = new ZMQContext();
|
||||
} else {
|
||||
c = new MSGQContext();
|
||||
@@ -20,7 +24,7 @@ Context * Context::create(){
|
||||
|
||||
SubSocket * SubSocket::create(){
|
||||
SubSocket * s;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQSubSocket();
|
||||
} else {
|
||||
s = new MSGQSubSocket();
|
||||
@@ -28,33 +32,9 @@ SubSocket * SubSocket::create(){
|
||||
return s;
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint){
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, "127.0.0.1");
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
} else {
|
||||
delete s;
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
|
||||
SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate){
|
||||
SubSocket *s = SubSocket::create();
|
||||
int r = s->connect(context, endpoint, address, conflate);
|
||||
int r = s->connect(context, endpoint, address, conflate, check_endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
@@ -66,7 +46,7 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
|
||||
|
||||
PubSocket * PubSocket::create(){
|
||||
PubSocket * s;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
s = new ZMQPubSocket();
|
||||
} else {
|
||||
s = new MSGQPubSocket();
|
||||
@@ -74,9 +54,9 @@ PubSocket * PubSocket::create(){
|
||||
return s;
|
||||
}
|
||||
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint){
|
||||
PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){
|
||||
PubSocket *s = PubSocket::create();
|
||||
int r = s->connect(context, endpoint);
|
||||
int r = s->connect(context, endpoint, check_endpoint);
|
||||
|
||||
if (r == 0) {
|
||||
return s;
|
||||
@@ -88,7 +68,7 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint){
|
||||
|
||||
Poller * Poller::create(){
|
||||
Poller * p;
|
||||
if (std::getenv("ZMQ") || MUST_USE_ZMQ){
|
||||
if (messaging_use_zmq()){
|
||||
p = new ZMQPoller();
|
||||
} else {
|
||||
p = new MSGQPoller();
|
||||
|
||||
@@ -12,6 +12,8 @@
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
@@ -32,24 +34,23 @@ public:
|
||||
|
||||
class SubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false) = 0;
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
|
||||
virtual void setTimeout(int timeout) = 0;
|
||||
virtual Message *receive(bool non_blocking=false) = 0;
|
||||
virtual void * getRawSocket() = 0;
|
||||
static SubSocket * create();
|
||||
static SubSocket * create(Context * context, std::string endpoint);
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address);
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address, bool conflate);
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
|
||||
virtual ~SubSocket(){};
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint) = 0;
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint);
|
||||
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
|
||||
virtual ~PubSocket(){};
|
||||
};
|
||||
|
||||
@@ -119,3 +120,21 @@ public:
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
|
||||
@@ -21,8 +21,6 @@
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
#include "services.h"
|
||||
|
||||
#include "msgq.hpp"
|
||||
|
||||
void sigusr2_handler(int signal) {
|
||||
@@ -83,20 +81,9 @@ 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/";
|
||||
|
||||
@@ -39,7 +39,7 @@ struct SubMaster::SubMessage {
|
||||
uint64_t rcv_time = 0, rcv_frame = 0;
|
||||
void *allocated_msg_reader = nullptr;
|
||||
capnp::FlatArrayMessageReader *msg_reader = nullptr;
|
||||
kj::Array<capnp::word> buf;
|
||||
AlignedBuffer aligned_buf;
|
||||
cereal::Event::Reader event;
|
||||
};
|
||||
|
||||
@@ -56,8 +56,7 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
|
||||
.socket = socket,
|
||||
.freq = serv->frequency,
|
||||
.ignore_alive = inList(ignore_alive, name),
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
|
||||
.buf = kj::heapArray<capnp::word>(1024)};
|
||||
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
|
||||
messages_[socket] = m;
|
||||
services_[name] = m;
|
||||
}
|
||||
@@ -75,17 +74,11 @@ int SubMaster::update(int timeout) {
|
||||
if (msg == nullptr) continue;
|
||||
|
||||
SubMessage *m = messages_.at(s);
|
||||
const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
|
||||
if (m->buf.size() < size) {
|
||||
m->buf = kj::heapArray<capnp::word>(size);
|
||||
}
|
||||
memcpy(m->buf.begin(), msg->getData(), msg->getSize());
|
||||
delete msg;
|
||||
|
||||
if (m->msg_reader) {
|
||||
m->msg_reader->~FlatArrayMessageReader();
|
||||
}
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
|
||||
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
|
||||
delete msg;
|
||||
m->event = m->msg_reader->getRoot<cereal::Event>();
|
||||
m->updated = true;
|
||||
m->rcv_time = current_time;
|
||||
|
||||
@@ -1,180 +0,0 @@
|
||||
# TODO: these port numbers are hardcoded in c, fix this
|
||||
|
||||
# LogRotate: 8001 is a PUSH PULL socket between loggerd and visiond
|
||||
|
||||
# all ZMQ pub sub: port, should_log, frequency, (qlog_decimation)
|
||||
|
||||
# frame syncing packet
|
||||
frame: [8002, true, 20., 1]
|
||||
# accel, gyro, and compass
|
||||
sensorEvents: [8003, true, 100., 100]
|
||||
# GPS data, also global timestamp
|
||||
gpsNMEA: [8004, true, 9.] # 9 msgs each sec
|
||||
# CPU+MEM+GPU+BAT temps
|
||||
thermal: [8005, true, 2., 1]
|
||||
# List(CanData), list of can messages
|
||||
can: [8006, true, 100.]
|
||||
controlsState: [8007, true, 100., 100]
|
||||
#liveEvent: [8008, true, 0.]
|
||||
model: [8009, true, 20., 5]
|
||||
features: [8010, true, 0.]
|
||||
health: [8011, true, 2., 1]
|
||||
radarState: [8012, true, 20., 5]
|
||||
#liveUI: [8014, true, 0.]
|
||||
encodeIdx: [8015, true, 20.]
|
||||
liveTracks: [8016, true, 20.]
|
||||
sendcan: [8017, true, 100.]
|
||||
logMessage: [8018, true, 0.]
|
||||
liveCalibration: [8019, true, 4., 4]
|
||||
androidLog: [8020, true, 0.]
|
||||
carState: [8021, true, 100., 10]
|
||||
# 8022 is reserved for sshd
|
||||
carControl: [8023, true, 100., 10]
|
||||
plan: [8024, true, 20., 2]
|
||||
liveLocation: [8025, true, 0., 1]
|
||||
gpsLocation: [8026, true, 1., 1]
|
||||
ethernetData: [8027, true, 0.]
|
||||
navUpdate: [8028, true, 0.]
|
||||
qcomGnss: [8029, true, 0.]
|
||||
lidarPts: [8030, true, 0.]
|
||||
procLog: [8031, true, 0.5]
|
||||
gpsLocationExternal: [8032, true, 10., 1]
|
||||
ubloxGnss: [8033, true, 10.]
|
||||
clocks: [8034, true, 1., 1]
|
||||
liveMpc: [8035, false, 20.]
|
||||
liveLongitudinalMpc: [8036, false, 20.]
|
||||
navStatus: [8038, true, 0.]
|
||||
gpsLocationTrimble: [8039, true, 0.]
|
||||
trimbleGnss: [8041, true, 0.]
|
||||
ubloxRaw: [8042, true, 20.]
|
||||
gpsPlannerPoints: [8043, true, 0.]
|
||||
gpsPlannerPlan: [8044, true, 0.]
|
||||
applanixRaw: [8046, true, 0.]
|
||||
orbLocation: [8047, true, 0.]
|
||||
trafficEvents: [8048, true, 0.]
|
||||
liveLocationTiming: [8049, true, 0.]
|
||||
orbslamCorrection: [8050, true, 0.]
|
||||
liveLocationCorrected: [8051, true, 0.]
|
||||
orbObservation: [8052, true, 0.]
|
||||
applanixLocation: [8053, true, 0.]
|
||||
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.] # should be 20fps on tici
|
||||
orbFeaturesSummary: [8062, true, 0.]
|
||||
driverState: [8063, true, 5., 1]
|
||||
liveParameters: [8064, true, 20., 2]
|
||||
liveMapData: [8065, true, 0.]
|
||||
cameraOdometry: [8066, true, 20., 5]
|
||||
pathPlan: [8067, true, 20., 2]
|
||||
kalmanOdometry: [8068, true, 0.]
|
||||
thumbnail: [8069, true, 0.2, 1]
|
||||
carEvents: [8070, true, 1., 1]
|
||||
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.]
|
||||
testJoystick: [8056, false, 0.]
|
||||
|
||||
# 8080 is reserved for slave testing daemon
|
||||
# 8762 is reserved for logserver
|
||||
|
||||
# manager -- base process to manage starting and stopping of all others
|
||||
# subscribes: thermal
|
||||
|
||||
# **** processes that communicate with the outside world ****
|
||||
|
||||
# thermald -- decides when to start and stop onroad
|
||||
# subscribes: health, location
|
||||
# publishes: thermal
|
||||
|
||||
# boardd -- communicates with the car
|
||||
# subscribes: sendcan
|
||||
# publishes: can, health, ubloxRaw
|
||||
|
||||
# sensord -- publishes IMU and Magnetometer
|
||||
# publishes: sensorEvents
|
||||
|
||||
# gpsd -- publishes EON's gps
|
||||
# publishes: gpsNMEA
|
||||
|
||||
# camerad -- publishes camera frames
|
||||
# publishes: frame, frontFrame, thumbnail
|
||||
# subscribes: driverState
|
||||
|
||||
# dmonitoringmodeld -- runs face detection on camera frames
|
||||
# publishes: driverState
|
||||
|
||||
# **** stateful data transformers ****
|
||||
|
||||
# modeld -- runs & publishes the model
|
||||
# publishes: model, cameraOdometry
|
||||
# subscribes: liveCalibration, pathPlan
|
||||
|
||||
# plannerd -- decides where to drive the car
|
||||
# subscribes: carState, model, radarState, controlsState, liveParameters
|
||||
# publishes: plan, pathPlan, liveMpc, liveLongitudinalMpc
|
||||
|
||||
# controlsd -- drives the car by sending CAN messages to panda
|
||||
# subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
|
||||
# publishes: carState, carControl, sendcan, controlsState, carEvents, carParams
|
||||
|
||||
# dmonitoringd -- processes driver monitoring data and publishes driver awareness
|
||||
# subscribes: driverState, liveCalibration, carState, model, gpsLocation
|
||||
# publishes: dMonitoringState
|
||||
|
||||
# radard -- processes the radar and vision data
|
||||
# subscribes: can, controlsState, model, liveParameters
|
||||
# publishes: radarState, liveTracks
|
||||
|
||||
# params_learner -- learns vehicle params by observing the vehicle dynamics
|
||||
# subscribes: controlsState, sensorEvents, cameraOdometry
|
||||
# publishes: liveParameters
|
||||
|
||||
# calibrationd -- reads posenet and applies a temporal filter on the frame region to look at
|
||||
# subscribes: cameraOdometry
|
||||
# publishes: liveCalibration
|
||||
|
||||
# ubloxd -- read raw ublox data and converts them in readable format
|
||||
# subscribes: ubloxRaw
|
||||
# publishes: ubloxGnss
|
||||
|
||||
# **** LOGGING SERVICE ****
|
||||
|
||||
# loggerd
|
||||
# subscribes: EVERYTHING
|
||||
|
||||
# **** NON VITAL SERVICES ****
|
||||
|
||||
# ui
|
||||
# subscribes: thermal, model, controlsState, uiLayout, liveCalibration, radarState, liveMpc, plusFrame, liveMapData
|
||||
|
||||
# uploader
|
||||
# communicates through file system with loggerd
|
||||
|
||||
# deleter
|
||||
# communicates through file system with loggerd and uploader
|
||||
|
||||
# logmessaged -- central logging service, can log to cloud
|
||||
# publishes: logMessage
|
||||
|
||||
# logcatd -- fetches logcat info from android
|
||||
# publishes: androidLog
|
||||
|
||||
# proclogd -- fetches process information
|
||||
# publishes: procLog
|
||||
|
||||
# tombstoned -- reports native crashes
|
||||
|
||||
# athenad -- on request, open a sub socket and return the value
|
||||
|
||||
# updated -- waits for network access and tries to update every hour
|
||||
+69
-20
@@ -1,34 +1,83 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import yaml
|
||||
from typing import Optional
|
||||
|
||||
EON = os.path.isfile('/EON')
|
||||
|
||||
class Service():
|
||||
def __init__(self, port, should_log, frequency, decimation=None):
|
||||
class Service:
|
||||
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.port = port
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
service_list = {
|
||||
"roadCameraState": Service(8002, True, 20., 1),
|
||||
"sensorEvents": Service(8003, True, 100., 100),
|
||||
"gpsNMEA": Service(8004, True, 9.),
|
||||
"deviceState": Service(8005, True, 2., 1),
|
||||
"can": Service(8006, True, 100.),
|
||||
"controlsState": Service(8007, True, 100., 100),
|
||||
"features": Service(8010, True, 0.),
|
||||
"pandaState": Service(8011, True, 2., 1),
|
||||
"radarState": Service(8012, True, 20., 5),
|
||||
"roadEncodeIdx": Service(8015, True, 20., 1),
|
||||
"liveTracks": Service(8016, True, 20.),
|
||||
"sendcan": Service(8017, True, 100.),
|
||||
"logMessage": Service(8018, True, 0.),
|
||||
"liveCalibration": Service(8019, True, 4., 4),
|
||||
"androidLog": Service(8020, True, 0., 1),
|
||||
"carState": Service(8021, True, 100., 10),
|
||||
"carControl": Service(8023, True, 100., 10),
|
||||
"longitudinalPlan": Service(8024, True, 20., 2),
|
||||
"liveLocation": Service(8025, True, 0., 1),
|
||||
"procLog": Service(8031, True, 0.5),
|
||||
"gpsLocationExternal": Service(8032, True, 10., 1),
|
||||
"ubloxGnss": Service(8033, True, 10.),
|
||||
"clocks": Service(8034, True, 1., 1),
|
||||
"liveMpc": Service(8035, False, 20.),
|
||||
"liveLongitudinalMpc": Service(8036, False, 20.),
|
||||
"ubloxRaw": Service(8042, True, 20.),
|
||||
"liveLocationKalman": Service(8054, True, 20., 2),
|
||||
"uiLayoutState": Service(8060, True, 0.),
|
||||
"liveParameters": Service(8064, True, 20., 2),
|
||||
"cameraOdometry": Service(8066, True, 20., 5),
|
||||
"lateralPlan": Service(8067, True, 20., 2),
|
||||
"thumbnail": Service(8069, True, 0.2, 1),
|
||||
"carEvents": Service(8070, True, 1., 1),
|
||||
"carParams": Service(8071, True, 0.02, 1),
|
||||
"driverCameraState": Service(8072, True, 10. if EON else 20., 1),
|
||||
"driverEncodeIdx": Service(8061, True, 10. if EON else 20., 1),
|
||||
"driverState": Service(8063, True, 10. if EON else 20., 1),
|
||||
"driverMonitoringState": Service(8073, True, 10. if EON else 20., 1),
|
||||
"offroadLayout": Service(8074, False, 0.),
|
||||
"wideRoadEncodeIdx": Service(8075, True, 20., 1),
|
||||
"wideRoadCameraState": Service(8076, True, 20., 1),
|
||||
"modelV2": Service(8077, True, 20., 20),
|
||||
"managerState": Service(8078, True, 2., 1),
|
||||
|
||||
service_list_path = os.path.join(os.path.dirname(__file__), "service_list.yaml")
|
||||
"testModel": Service(8040, False, 0.),
|
||||
"testLiveLocation": Service(8045, False, 0.),
|
||||
"testJoystick": Service(8056, False, 0.),
|
||||
}
|
||||
|
||||
service_list = {}
|
||||
with open(service_list_path, "r") as f:
|
||||
for k, v in yaml.safe_load(f).items():
|
||||
decimation = None
|
||||
if len(v) == 4:
|
||||
decimation = v[3]
|
||||
|
||||
service_list[k] = Service(v[0], v[1], v[2], decimation)
|
||||
def build_header():
|
||||
h = ""
|
||||
h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
|
||||
h += "#ifndef __SERVICES_H\n"
|
||||
h += "#define __SERVICES_H\n"
|
||||
h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static struct service services[] = {\n"
|
||||
for k, v in service_list.items():
|
||||
should_log = "true" if v.should_log else "false"
|
||||
decimation = -1 if v.decimation is None else v.decimation
|
||||
h += ' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
|
||||
(k, v.port, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
|
||||
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 { 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")
|
||||
print(build_header())
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
visionipc_pyx.cpp
|
||||
*.so
|
||||
@@ -1,6 +1,5 @@
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <assert.h>
|
||||
@@ -10,16 +9,19 @@
|
||||
#include <sys/socket.h>
|
||||
#include <sys/un.h>
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0)
|
||||
#else
|
||||
#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
|
||||
#endif
|
||||
|
||||
#include "ipc.h"
|
||||
|
||||
int ipc_connect(const char* socket_path) {
|
||||
int err;
|
||||
|
||||
#ifdef __APPLE__
|
||||
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
|
||||
#else
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
#endif
|
||||
int sock = getsocket();
|
||||
|
||||
if (sock < 0) return -1;
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
@@ -39,11 +41,8 @@ int ipc_bind(const char* socket_path) {
|
||||
|
||||
unlink(socket_path);
|
||||
|
||||
#ifdef __APPLE__
|
||||
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
|
||||
#else
|
||||
int sock = socket(AF_UNIX, SOCK_SEQPACKET, 0);
|
||||
#endif
|
||||
int sock = getsocket();
|
||||
|
||||
struct sockaddr_un addr = {
|
||||
.sun_family = AF_UNIX,
|
||||
};
|
||||
@@ -87,7 +86,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
|
||||
cmsg->cmsg_type = SCM_RIGHTS;
|
||||
cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds);
|
||||
memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds);
|
||||
// printf("send clen %d -> %d\n", num_fds, cmsg->cmsg_len);
|
||||
}
|
||||
return sendmsg(fd, &msg, 0);
|
||||
} else {
|
||||
@@ -102,8 +100,6 @@ int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fd
|
||||
recv_fds = (cmsg->cmsg_len - CMSG_LEN(0));
|
||||
assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0);
|
||||
recv_fds /= sizeof(int);
|
||||
// printf("recv clen %d -> %d\n", cmsg->cmsg_len, recv_fds);
|
||||
// assert(cmsg->cmsg_len == CMSG_LEN(sizeof(int) * num_fds));
|
||||
|
||||
assert(fds && recv_fds <= num_fds);
|
||||
memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds);
|
||||
@@ -1,19 +1,7 @@
|
||||
#ifndef IPC_H
|
||||
#define IPC_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
|
||||
int ipc_connect(const char* socket_path);
|
||||
int ipc_bind(const char* socket_path);
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} // extern "C"
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,2 @@
|
||||
#define CATCH_CONFIG_MAIN
|
||||
#include "catch2/catch.hpp"
|
||||
@@ -0,0 +1,40 @@
|
||||
#include "visionbuf.h"
|
||||
|
||||
#define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))
|
||||
|
||||
#ifdef QCOM
|
||||
// from libadreno_utils.so
|
||||
extern "C" void compute_aligned_width_and_height(int width,
|
||||
int height,
|
||||
int bpp,
|
||||
int tile_mode,
|
||||
int raster_mode,
|
||||
int padding_threshold,
|
||||
int *aligned_w,
|
||||
int *aligned_h);
|
||||
#endif
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
|
||||
#if defined(QCOM) && !defined(QCOM_REPLAY)
|
||||
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
|
||||
#else
|
||||
*aligned_w = width; *aligned_h = height;
|
||||
#endif
|
||||
}
|
||||
|
||||
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
|
||||
this->rgb = true;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
this->stride = stride;
|
||||
}
|
||||
|
||||
void VisionBuf::init_yuv(size_t width, size_t height){
|
||||
this->rgb = false;
|
||||
this->width = width;
|
||||
this->height = height;
|
||||
|
||||
this->y = (uint8_t *)this->addr;
|
||||
this->u = this->y + (width * height);
|
||||
this->v = this->u + (width / 2 * height / 2);
|
||||
}
|
||||
@@ -0,0 +1,63 @@
|
||||
#pragma once
|
||||
#include "visionipc.h"
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#define VISIONBUF_SYNC_FROM_DEVICE 0
|
||||
#define VISIONBUF_SYNC_TO_DEVICE 1
|
||||
|
||||
enum VisionStreamType {
|
||||
VISION_STREAM_RGB_BACK,
|
||||
VISION_STREAM_RGB_FRONT,
|
||||
VISION_STREAM_RGB_WIDE,
|
||||
VISION_STREAM_YUV_BACK,
|
||||
VISION_STREAM_YUV_FRONT,
|
||||
VISION_STREAM_YUV_WIDE,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
class VisionBuf {
|
||||
public:
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
size_t width = 0;
|
||||
size_t height = 0;
|
||||
size_t stride = 0;
|
||||
|
||||
// YUV
|
||||
uint8_t * y = nullptr;
|
||||
uint8_t * u = nullptr;
|
||||
uint8_t * v = nullptr;
|
||||
|
||||
// Visionipc
|
||||
uint64_t server_id = 0;
|
||||
size_t idx = 0;
|
||||
VisionStreamType type;
|
||||
|
||||
// OpenCL
|
||||
cl_mem buf_cl = nullptr;
|
||||
cl_command_queue copy_q = nullptr;
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
bool owner = false;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height);
|
||||
void sync(int dir);
|
||||
void free();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
@@ -0,0 +1,86 @@
|
||||
#include "visionbuf.h"
|
||||
|
||||
#include <atomic>
|
||||
#include <stdio.h>
|
||||
#include <fcntl.h>
|
||||
#include <assert.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <sys/mman.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
std::atomic<int> offset = 0;
|
||||
|
||||
static void *malloc_with_fd(size_t len, int *fd) {
|
||||
char full_path[0x100];
|
||||
|
||||
#ifdef __APPLE__
|
||||
snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
|
||||
#else
|
||||
snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
|
||||
#endif
|
||||
|
||||
*fd = open(full_path, O_RDWR | O_CREAT, 0777);
|
||||
assert(*fd >= 0);
|
||||
|
||||
unlink(full_path);
|
||||
|
||||
ftruncate(*fd, len);
|
||||
void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
|
||||
assert(addr != MAP_FAILED);
|
||||
|
||||
return addr;
|
||||
}
|
||||
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int fd;
|
||||
void *addr = malloc_with_fd(len, &fd);
|
||||
|
||||
this->len = len;
|
||||
this->mmap_len = len;
|
||||
this->addr = addr;
|
||||
this->fd = fd;
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
|
||||
int err;
|
||||
|
||||
this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
|
||||
assert(err == 0);
|
||||
|
||||
this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::import(){
|
||||
assert(this->fd >= 0);
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
}
|
||||
|
||||
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err = 0;
|
||||
if (!this->buf_cl) return;
|
||||
|
||||
if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
|
||||
err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
} else {
|
||||
err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
|
||||
}
|
||||
assert(err == 0);
|
||||
clFinish(this->copy_q);
|
||||
}
|
||||
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
|
||||
clReleaseCommandQueue(this->copy_q);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->len);
|
||||
close(this->fd);
|
||||
}
|
||||
@@ -10,7 +10,7 @@
|
||||
#include <unistd.h>
|
||||
#include <linux/ion.h>
|
||||
#include <CL/cl_ext.h>
|
||||
#include "common/clutil.h"
|
||||
|
||||
#include <msm_ion.h>
|
||||
|
||||
#include "visionbuf.h"
|
||||
@@ -36,7 +36,7 @@ static void ion_init() {
|
||||
}
|
||||
}
|
||||
|
||||
VisionBuf visionbuf_allocate(size_t len) {
|
||||
void VisionBuf::allocate(size_t len) {
|
||||
int err;
|
||||
|
||||
ion_init();
|
||||
@@ -62,46 +62,58 @@ VisionBuf visionbuf_allocate(size_t len) {
|
||||
|
||||
memset(addr, 0, ion_alloc.len);
|
||||
|
||||
return (VisionBuf){
|
||||
.len = len,
|
||||
.mmap_len = ion_alloc.len,
|
||||
.addr = addr,
|
||||
.handle = ion_alloc.handle,
|
||||
.fd = ion_fd_data.fd,
|
||||
};
|
||||
this->owner = true;
|
||||
this->len = len;
|
||||
this->mmap_len = ion_alloc.len;
|
||||
this->addr = addr;
|
||||
this->handle = ion_alloc.handle;
|
||||
this->fd = ion_fd_data.fd;
|
||||
}
|
||||
|
||||
VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
|
||||
VisionBuf buf = visionbuf_allocate(len);
|
||||
void VisionBuf::import(){
|
||||
int err;
|
||||
assert(this->fd >= 0);
|
||||
|
||||
assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
|
||||
ion_init();
|
||||
|
||||
// Get handle
|
||||
struct ion_fd_data fd_data = {0};
|
||||
fd_data.fd = this->fd;
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
this->owner = false;
|
||||
this->handle = fd_data.handle;
|
||||
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
|
||||
assert(this->addr != MAP_FAILED);
|
||||
}
|
||||
|
||||
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
|
||||
int err;
|
||||
|
||||
assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
|
||||
|
||||
cl_mem_ion_host_ptr ion_cl = {0};
|
||||
ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
|
||||
ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
|
||||
ion_cl.ion_filedesc = buf.fd;
|
||||
ion_cl.ion_hostptr = buf.addr;
|
||||
ion_cl.ion_filedesc = this->fd;
|
||||
ion_cl.ion_hostptr = this->addr;
|
||||
|
||||
buf.buf_cl = CL_CHECK_ERR(clCreateBuffer(ctx,
|
||||
this->buf_cl = clCreateBuffer(ctx,
|
||||
CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
|
||||
buf.len, &ion_cl, &err));
|
||||
return buf;
|
||||
this->len, &ion_cl, &err);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
|
||||
void visionbuf_sync(const VisionBuf* buf, int dir) {
|
||||
void VisionBuf::sync(int dir) {
|
||||
int err;
|
||||
|
||||
struct ion_fd_data fd_data = {0};
|
||||
fd_data.fd = buf->fd;
|
||||
err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
|
||||
assert(err == 0);
|
||||
|
||||
struct ion_flush_data flush_data = {0};
|
||||
flush_data.handle = fd_data.handle;
|
||||
flush_data.vaddr = buf->addr;
|
||||
flush_data.handle = this->handle;
|
||||
flush_data.vaddr = this->addr;
|
||||
flush_data.offset = 0;
|
||||
flush_data.length = buf->len;
|
||||
flush_data.length = this->len;
|
||||
|
||||
// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
|
||||
// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
|
||||
@@ -109,36 +121,28 @@ void visionbuf_sync(const VisionBuf* buf, int dir) {
|
||||
|
||||
struct ion_custom_data custom_data = {0};
|
||||
|
||||
switch (dir) {
|
||||
case VISIONBUF_SYNC_FROM_DEVICE:
|
||||
custom_data.cmd = ION_IOC_INV_CACHES;
|
||||
break;
|
||||
case VISIONBUF_SYNC_TO_DEVICE:
|
||||
custom_data.cmd = ION_IOC_CLEAN_CACHES;
|
||||
break;
|
||||
default:
|
||||
assert(0);
|
||||
}
|
||||
assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
|
||||
custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
|
||||
ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
|
||||
|
||||
custom_data.arg = (unsigned long)&flush_data;
|
||||
err = ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data);
|
||||
assert(err == 0);
|
||||
|
||||
struct ion_handle_data handle_data = {0};
|
||||
handle_data.handle = fd_data.handle;
|
||||
err = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
void visionbuf_free(const VisionBuf* buf) {
|
||||
if (buf->buf_cl) {
|
||||
CL_CHECK(clReleaseMemObject(buf->buf_cl));
|
||||
void VisionBuf::free() {
|
||||
if (this->buf_cl){
|
||||
int err = clReleaseMemObject(this->buf_cl);
|
||||
assert(err == 0);
|
||||
}
|
||||
|
||||
munmap(this->addr, this->mmap_len);
|
||||
close(this->fd);
|
||||
|
||||
// Free the ION buffer if we also shared it
|
||||
if (this->owner){
|
||||
struct ion_handle_data handle_data = {.handle = this->handle};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
}
|
||||
munmap(buf->addr, buf->mmap_len);
|
||||
close(buf->fd);
|
||||
struct ion_handle_data handle_data = {
|
||||
.handle = buf->handle,
|
||||
};
|
||||
int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
|
||||
assert(ret == 0);
|
||||
}
|
||||
@@ -0,0 +1,18 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 64;
|
||||
|
||||
struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
uint64_t server_id;
|
||||
size_t idx;
|
||||
struct VisionIpcBufExtra extra;
|
||||
};
|
||||
@@ -0,0 +1,29 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "visionbuf.h":
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
|
||||
cdef extern from "visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
|
||||
cdef extern from "visionipc_server.h":
|
||||
cdef cppclass VisionIpcServer:
|
||||
VisionIpcServer(string, void*, void*)
|
||||
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
@@ -0,0 +1,119 @@
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
|
||||
#include "ipc.h"
|
||||
#include "visionipc_client.h"
|
||||
#include "visionipc_server.h"
|
||||
|
||||
VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false);
|
||||
|
||||
poller = Poller::create();
|
||||
poller->registerSocket(sock);
|
||||
}
|
||||
|
||||
// Connect is not thread safe. Do not use the buffers while calling connect
|
||||
bool VisionIpcClient::connect(bool blocking){
|
||||
connected = false;
|
||||
|
||||
// Cleanup old buffers on reconnect
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
}
|
||||
num_buffers = 0;
|
||||
|
||||
// Connect to server socket and ask for all FDs of type
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
|
||||
int socket_fd = -1;
|
||||
while (socket_fd < 0) {
|
||||
socket_fd = ipc_connect(path.c_str());
|
||||
|
||||
if (socket_fd < 0) {
|
||||
if (blocking){
|
||||
std::cout << "VisionIpcClient connecting" << std::endl;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Send stream type to server to request FDs
|
||||
int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
|
||||
assert(r == sizeof(type));
|
||||
|
||||
// Get FDs
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
|
||||
|
||||
assert(num_buffers > 0);
|
||||
assert(r == sizeof(VisionBuf) * num_buffers);
|
||||
|
||||
// Import buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i] = bufs[i];
|
||||
buffers[i].fd = fds[i];
|
||||
buffers[i].import();
|
||||
if (buffers[i].rgb) {
|
||||
buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride);
|
||||
} else {
|
||||
buffers[i].init_yuv(buffers[i].width, buffers[i].height);
|
||||
}
|
||||
|
||||
if (device_id) buffers[i].init_cl(device_id, ctx);
|
||||
}
|
||||
|
||||
connected = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){
|
||||
auto p = poller->poll(timeout_ms);
|
||||
|
||||
if (!p.size()){
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Message * r = sock->receive(true);
|
||||
if (r == nullptr){
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// Get buffer
|
||||
assert(r->getSize() == sizeof(VisionIpcPacket));
|
||||
VisionIpcPacket *packet = (VisionIpcPacket*)r->getData();
|
||||
|
||||
assert(packet->idx < num_buffers);
|
||||
VisionBuf * buf = &buffers[packet->idx];
|
||||
|
||||
if (buf->server_id != packet->server_id){
|
||||
connected = false;
|
||||
delete r;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (extra) {
|
||||
*extra = packet->extra;
|
||||
}
|
||||
|
||||
buf->sync(VISIONBUF_SYNC_TO_DEVICE);
|
||||
delete r;
|
||||
return buf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
VisionIpcClient::~VisionIpcClient(){
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
buffers[i].free();
|
||||
}
|
||||
|
||||
delete sock;
|
||||
delete poller;
|
||||
delete msg_ctx;
|
||||
}
|
||||
@@ -0,0 +1,32 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.hpp"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
|
||||
class VisionIpcClient {
|
||||
private:
|
||||
std::string name;
|
||||
Context * msg_ctx;
|
||||
SubSocket * sock;
|
||||
Poller * poller;
|
||||
|
||||
VisionStreamType type;
|
||||
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
|
||||
void init_msgq(bool conflate);
|
||||
|
||||
public:
|
||||
bool connected = false;
|
||||
int num_buffers = 0;
|
||||
VisionBuf buffers[VISIONIPC_MAX_FDS];
|
||||
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcClient();
|
||||
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
|
||||
bool connect(bool blocking=true);
|
||||
};
|
||||
@@ -0,0 +1,49 @@
|
||||
# distutils: language = c++
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
import sys
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
from libc.string cimport memcpy
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
|
||||
from .visionipc cimport VisionIpcServer as cppVisionIpcServer
|
||||
from .visionipc cimport VisionBuf as cppVisionBuf
|
||||
from .visionipc cimport VisionIpcBufExtra
|
||||
|
||||
cpdef enum VisionStreamType:
|
||||
VISION_STREAM_RGB_BACK
|
||||
VISION_STREAM_RGB_FRONT
|
||||
VISION_STREAM_RGB_WIDE
|
||||
VISION_STREAM_YUV_BACK
|
||||
VISION_STREAM_YUV_FRONT
|
||||
VISION_STREAM_YUV_WIDE
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
cdef cppVisionIpcServer * server
|
||||
|
||||
def __init__(self, string name):
|
||||
self.server = new cppVisionIpcServer(name, NULL, NULL)
|
||||
|
||||
def create_buffers(self, VisionStreamType tp, size_t num_buffers, bool rgb, size_t width, size_t height):
|
||||
self.server.create_buffers(tp, num_buffers, rgb, width, height)
|
||||
|
||||
def send(self, VisionStreamType tp, bytes data, uint32_t frame_id=0, uint64_t timestamp_sof=0, uint64_t timestamp_eof=0):
|
||||
cdef cppVisionBuf * buf = self.server.get_buffer(tp)
|
||||
|
||||
# Populate buffer
|
||||
assert buf.len == len(data)
|
||||
memcpy(buf.addr, <char*>data, len(data))
|
||||
|
||||
cdef VisionIpcBufExtra extra
|
||||
extra.frame_id = frame_id
|
||||
extra.timestamp_sof = timestamp_sof
|
||||
extra.timestamp_eof = timestamp_eof
|
||||
|
||||
self.server.send(buf, &extra, False)
|
||||
|
||||
def start_listener(self):
|
||||
self.server.start_listener()
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.server
|
||||
@@ -0,0 +1,179 @@
|
||||
#include <iostream>
|
||||
#include <chrono>
|
||||
#include <cassert>
|
||||
#include <random>
|
||||
|
||||
#include <poll.h>
|
||||
#include <sys/socket.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging.hpp"
|
||||
#include "ipc.h"
|
||||
#include "visionipc_server.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
assert(name == "camerad");
|
||||
return std::to_string(9000 + static_cast<int>(type));
|
||||
} else {
|
||||
return "visionipc_" + name + "_" + std::to_string(type);
|
||||
}
|
||||
}
|
||||
|
||||
VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
|
||||
msg_ctx = Context::create();
|
||||
|
||||
std::random_device rd("/dev/urandom");
|
||||
std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
|
||||
server_id = distribution(rd);
|
||||
}
|
||||
|
||||
void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){
|
||||
// TODO: assert that this type is not created yet
|
||||
assert(num_buffers < VISIONIPC_MAX_FDS);
|
||||
int aligned_w = 0, aligned_h = 0;
|
||||
|
||||
size_t size = 0;
|
||||
size_t stride = 0; // Only used for RGB
|
||||
|
||||
if (rgb) {
|
||||
visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
|
||||
size = (size_t)aligned_w * (size_t)aligned_h * 3;
|
||||
stride = aligned_w * 3;
|
||||
} else {
|
||||
size = width * height * 3 / 2;
|
||||
}
|
||||
|
||||
|
||||
// Create map + alloc requested buffers
|
||||
for (size_t i = 0; i < num_buffers; i++){
|
||||
VisionBuf* buf = new VisionBuf();
|
||||
buf->allocate(size);
|
||||
buf->idx = i;
|
||||
buf->type = type;
|
||||
|
||||
if (device_id) buf->init_cl(device_id, ctx);
|
||||
|
||||
rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height);
|
||||
|
||||
buffers[type].push_back(buf);
|
||||
}
|
||||
|
||||
cur_idx[type] = 0;
|
||||
|
||||
// Create msgq publisher for each of the `name` + type combos
|
||||
// TODO: compute port number directly if using zmq
|
||||
sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false);
|
||||
}
|
||||
|
||||
|
||||
void VisionIpcServer::start_listener(){
|
||||
listener_thread = std::thread(&VisionIpcServer::listener, this);
|
||||
}
|
||||
|
||||
|
||||
void VisionIpcServer::listener(){
|
||||
std::cout << "Starting listener for: " << name << std::endl;
|
||||
|
||||
std::string path = "/tmp/visionipc_" + name;
|
||||
int sock = ipc_bind(path.c_str());
|
||||
assert(sock >= 0);
|
||||
|
||||
while (!should_exit){
|
||||
// Wait for incoming connection
|
||||
struct pollfd polls[1] = {{0}};
|
||||
polls[0].fd = sock;
|
||||
polls[0].events = POLLIN;
|
||||
|
||||
int ret = poll(polls, 1, 100);
|
||||
if (ret < 0) {
|
||||
if (errno == EINTR || errno == EAGAIN) continue;
|
||||
std::cout << "poll failed, stopping listener" << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
if (should_exit) break;
|
||||
if (!polls[0].revents) {
|
||||
continue;
|
||||
}
|
||||
|
||||
// Handle incoming request
|
||||
int fd = accept(sock, NULL, NULL);
|
||||
assert(fd >= 0);
|
||||
|
||||
VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
|
||||
int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
|
||||
assert(r == sizeof(type));
|
||||
if (buffers.count(type) <= 0) {
|
||||
std::cout << "got request for invalid buffer type: " << type << std::endl;
|
||||
close(fd);
|
||||
continue;
|
||||
}
|
||||
|
||||
int fds[VISIONIPC_MAX_FDS];
|
||||
int num_fds = buffers[type].size();
|
||||
VisionBuf bufs[VISIONIPC_MAX_FDS];
|
||||
|
||||
for (int i = 0; i < num_fds; i++){
|
||||
fds[i] = buffers[type][i]->fd;
|
||||
bufs[i] = *buffers[type][i];
|
||||
|
||||
// Remove some private openCL/ion metadata
|
||||
bufs[i].buf_cl = 0;
|
||||
bufs[i].copy_q = 0;
|
||||
bufs[i].handle = 0;
|
||||
bufs[i].owner = false;
|
||||
|
||||
bufs[i].server_id = server_id;
|
||||
}
|
||||
|
||||
r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr);
|
||||
|
||||
close(fd);
|
||||
}
|
||||
|
||||
std::cout << "Stopping listener for: " << name << std::endl;
|
||||
close(sock);
|
||||
}
|
||||
|
||||
|
||||
|
||||
VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){
|
||||
// Do we want to keep track if the buffer has been sent out yet and warn user?
|
||||
assert(buffers.count(type));
|
||||
auto b = buffers[type];
|
||||
return b[cur_idx[type]++ % b.size()];
|
||||
}
|
||||
|
||||
void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){
|
||||
if (sync) buf->sync(VISIONBUF_SYNC_FROM_DEVICE);
|
||||
assert(buffers.count(buf->type));
|
||||
assert(buf->idx < buffers[buf->type].size());
|
||||
|
||||
// Send over correct msgq socket
|
||||
VisionIpcPacket packet = {0};
|
||||
packet.server_id = server_id;
|
||||
packet.idx = buf->idx;
|
||||
packet.extra = *extra;
|
||||
|
||||
sockets[buf->type]->send((char*)&packet, sizeof(packet));
|
||||
}
|
||||
|
||||
VisionIpcServer::~VisionIpcServer(){
|
||||
should_exit = true;
|
||||
listener_thread.join();
|
||||
|
||||
// VisionBuf cleanup
|
||||
for( auto const& [type, buf] : buffers ) {
|
||||
for (VisionBuf* b : buf){
|
||||
b->free();
|
||||
delete b;
|
||||
}
|
||||
}
|
||||
|
||||
// Messaging cleanup
|
||||
for( auto const& [type, sock] : sockets ) {
|
||||
delete sock;
|
||||
}
|
||||
delete msg_ctx;
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "messaging.hpp"
|
||||
#include "visionipc.h"
|
||||
#include "visionbuf.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
||||
|
||||
class VisionIpcServer {
|
||||
private:
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
uint64_t server_id;
|
||||
|
||||
std::atomic<bool> should_exit = false;
|
||||
std::string name;
|
||||
std::thread listener_thread;
|
||||
|
||||
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
|
||||
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
|
||||
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
|
||||
|
||||
Context * msg_ctx;
|
||||
std::map<VisionStreamType, PubSocket*> sockets;
|
||||
|
||||
void listener(void);
|
||||
|
||||
public:
|
||||
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcServer();
|
||||
|
||||
VisionBuf * get_buffer(VisionStreamType type);
|
||||
|
||||
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
|
||||
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
|
||||
void start_listener();
|
||||
};
|
||||
@@ -0,0 +1,135 @@
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
|
||||
#include "catch2/catch.hpp"
|
||||
#include "visionipc_server.h"
|
||||
#include "visionipc_client.h"
|
||||
|
||||
static void zmq_sleep(int milliseconds=1000){
|
||||
if (messaging_use_zmq()){
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Connecting"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.connected);
|
||||
}
|
||||
|
||||
TEST_CASE("Check buffers"){
|
||||
size_t width = 100, height = 200, num_buffers = 5;
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.buffers[0].width == width);
|
||||
REQUIRE(client.buffers[0].height == height);
|
||||
REQUIRE(client.buffers[0].len);
|
||||
REQUIRE(client.num_buffers == num_buffers);
|
||||
}
|
||||
|
||||
TEST_CASE("Check yuv/rgb"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
|
||||
client_yuv.connect();
|
||||
client_rgb.connect();
|
||||
|
||||
REQUIRE(client_rgb.buffers[0].rgb == true);
|
||||
REQUIRE(client_yuv.buffers[0].rgb == false);
|
||||
}
|
||||
|
||||
TEST_CASE("Send single buffer"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
*((uint64_t*)buf->addr) = 1234;
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1337;
|
||||
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
|
||||
REQUIRE(extra_recv.frame_id == extra.frame_id);
|
||||
}
|
||||
|
||||
|
||||
TEST_CASE("Test no conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1;
|
||||
server.send(buf, &extra);
|
||||
extra.frame_id = 2;
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 1);
|
||||
|
||||
recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 2);
|
||||
}
|
||||
|
||||
TEST_CASE("Test conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
extra.frame_id = 1;
|
||||
server.send(buf, &extra);
|
||||
extra.frame_id = 2;
|
||||
server.send(buf, &extra);
|
||||
|
||||
VisionIpcBufExtra extra_recv = {0};
|
||||
VisionBuf * recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf != nullptr);
|
||||
REQUIRE(extra_recv.frame_id == 2);
|
||||
|
||||
recv_buf = client.recv(&extra_recv);
|
||||
REQUIRE(recv_buf == nullptr);
|
||||
}
|
||||
@@ -27,7 +27,11 @@ class Api():
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
+5
-2
@@ -1,8 +1,11 @@
|
||||
import os
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
from pathlib import Path
|
||||
|
||||
from selfdrive.hardware import PC
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
if PC:
|
||||
PERSIST = os.path.join(BASEDIR, "persist")
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
||||
@@ -0,0 +1,9 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -3,6 +3,7 @@ import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
@@ -62,8 +63,48 @@ class SwagFormatter(logging.Formatter):
|
||||
return record_dict
|
||||
|
||||
def format(self, record):
|
||||
if self.swaglogger is None:
|
||||
raise Exception("must set swaglogger before calling format()")
|
||||
return json_robust_dumps(self.format_dict(record))
|
||||
|
||||
class SwagLogFileFormatter(SwagFormatter):
|
||||
def fix_kv(self, k, v):
|
||||
# append type to names to preserve legacy naming in logs
|
||||
# avoids overlapping key namespaces with different types
|
||||
# e.g. log.info() creates 'msg' -> 'msg$s'
|
||||
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
|
||||
# because overlapping namespace 'msg' caused problems
|
||||
if isinstance(v, (str, bytes)):
|
||||
k += "$s"
|
||||
elif isinstance(v, float):
|
||||
k += "$f"
|
||||
elif isinstance(v, bool):
|
||||
k += "$b"
|
||||
elif isinstance(v, int):
|
||||
k += "$i"
|
||||
elif isinstance(v, dict):
|
||||
nv = {}
|
||||
for ik, iv in v.items():
|
||||
ik, iv = self.fix_kv(ik, iv)
|
||||
nv[ik] = iv
|
||||
v = nv
|
||||
elif isinstance(v, list):
|
||||
k += "$a"
|
||||
return k, v
|
||||
|
||||
def format(self, record):
|
||||
if isinstance(record, str):
|
||||
v = json.loads(record)
|
||||
else:
|
||||
v = self.format_dict(record)
|
||||
|
||||
mk, mv = self.fix_kv('msg', v['msg'])
|
||||
del v['msg']
|
||||
v[mk] = mv
|
||||
v['id'] = uuid.uuid4().hex
|
||||
|
||||
return json_robust_dumps(v)
|
||||
|
||||
class SwagErrorFilter(logging.Filter):
|
||||
def filter(self, record):
|
||||
return record.levelno < logging.ERROR
|
||||
@@ -117,6 +158,8 @@ class SwagLogger(logging.Logger):
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
if 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
|
||||
@@ -2,3 +2,22 @@ from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint:
|
||||
assert Params
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
params = Params()
|
||||
if len(sys.argv) == 3:
|
||||
name = sys.argv[1]
|
||||
val = sys.argv[2]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"SET: {name} = {val}")
|
||||
params.put(name, val)
|
||||
elif len(sys.argv) == 2:
|
||||
name = sys.argv[1]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"GET: {name} = {params.get(name)}")
|
||||
else:
|
||||
for k in keys.keys():
|
||||
print(f"GET: {k} = {params.get(k)}")
|
||||
|
||||
@@ -4,7 +4,7 @@ from libcpp cimport bool
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.c":
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
|
||||
+15
-2
@@ -15,6 +15,9 @@ cdef enum TxType:
|
||||
|
||||
keys = {
|
||||
b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"ApiCache_DriveStats": [TxType.PERSISTENT],
|
||||
b"ApiCache_Device": [TxType.PERSISTENT],
|
||||
b"ApiCache_Owner": [TxType.PERSISTENT],
|
||||
b"AthenadPid": [TxType.PERSISTENT],
|
||||
b"CalibrationParams": [TxType.PERSISTENT],
|
||||
b"CarBatteryCapacity": [TxType.PERSISTENT],
|
||||
@@ -22,18 +25,23 @@ keys = {
|
||||
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"EndToEndToggle": [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"GitDiff": [TxType.PERSISTENT],
|
||||
b"GitBranch": [TxType.PERSISTENT],
|
||||
b"GitCommit": [TxType.PERSISTENT],
|
||||
b"GitRemote": [TxType.PERSISTENT],
|
||||
b"GithubSshKeys": [TxType.PERSISTENT],
|
||||
b"GithubUsername": [TxType.PERSISTENT],
|
||||
b"HardwareSerial": [TxType.PERSISTENT],
|
||||
b"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
b"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IMEI": [TxType.PERSISTENT],
|
||||
b"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
b"IsMetric": [TxType.PERSISTENT],
|
||||
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
@@ -42,24 +50,28 @@ keys = {
|
||||
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
b"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateTime": [TxType.PERSISTENT],
|
||||
b"LastGPSPosition": [TxType.PERSISTENT],
|
||||
b"LastUpdateException": [TxType.PERSISTENT],
|
||||
b"LastUpdateTime": [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"RecordFrontLock": [TxType.PERSISTENT], # for the internal fleet
|
||||
b"ReleaseNotes": [TxType.PERSISTENT],
|
||||
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"SubscriberInfo": [TxType.PERSISTENT],
|
||||
b"SshEnabled": [TxType.PERSISTENT],
|
||||
b"TermsVersion": [TxType.PERSISTENT],
|
||||
b"Timezone": [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"VisionRadarToggle": [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],
|
||||
@@ -70,6 +82,7 @@ keys = {
|
||||
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
|
||||
+4
-1
@@ -16,7 +16,7 @@ class Spinner():
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text):
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
@@ -24,6 +24,9 @@ class Spinner():
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: int, total: int):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
try:
|
||||
|
||||
@@ -1,3 +1,6 @@
|
||||
Import('envCython')
|
||||
Import('env', 'envCython')
|
||||
|
||||
transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
|
||||
Export('transformations')
|
||||
|
||||
envCython.Program('transformations.so', 'transformations.pyx')
|
||||
|
||||
@@ -39,7 +39,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
|
||||
return quat.toRotationMatrix();
|
||||
}
|
||||
|
||||
Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
|
||||
Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
|
||||
return ensure_unique(Eigen::Quaterniond(rot));
|
||||
}
|
||||
|
||||
@@ -47,7 +47,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
|
||||
return quat2rot(euler2quat(euler));
|
||||
}
|
||||
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
|
||||
Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
|
||||
return quat2euler(rot2quat(rot));
|
||||
}
|
||||
|
||||
@@ -141,7 +141,3 @@ Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){
|
||||
return {phi, theta, psi};
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main(void){
|
||||
}
|
||||
|
||||
@@ -8,9 +8,9 @@ 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::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
|
||||
Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
|
||||
Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
|
||||
Eigen::Vector3d rot2euler(const 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);
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"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"
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
|
||||
"ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b.img",
|
||||
"recovery_len": 15209772,
|
||||
"recovery_hash": "9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b"
|
||||
}
|
||||
|
||||
@@ -12,6 +12,7 @@
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <mutex>
|
||||
#include <memory>
|
||||
#include <thread>
|
||||
|
||||
#include <curl/curl.h>
|
||||
@@ -30,7 +31,7 @@
|
||||
|
||||
#include "common/framebuffer.h"
|
||||
#include "common/touch.h"
|
||||
#include "common/utilpp.h"
|
||||
#include "common/util.h"
|
||||
|
||||
#define USER_AGENT "NEOSUpdater-0.2"
|
||||
|
||||
@@ -183,7 +184,7 @@ struct Updater {
|
||||
|
||||
int fb_w, fb_h;
|
||||
|
||||
FramebufferState *fb = NULL;
|
||||
std::unique_ptr<FrameBuffer> fb;
|
||||
NVGcontext *vg = NULL;
|
||||
int font_regular;
|
||||
int font_semibold;
|
||||
@@ -227,11 +228,9 @@ struct Updater {
|
||||
void ui_init() {
|
||||
touch_init(&touch);
|
||||
|
||||
fb = framebuffer_init("updater", 0x00001000, false,
|
||||
&fb_w, &fb_h);
|
||||
assert(fb);
|
||||
fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
|
||||
|
||||
framebuffer_set_power(fb, HWC_POWER_MODE_NORMAL);
|
||||
fb->set_power(HWC_POWER_MODE_NORMAL);
|
||||
|
||||
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
|
||||
assert(vg);
|
||||
@@ -465,7 +464,7 @@ struct Updater {
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
util::sleep_for(1000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
@@ -483,7 +482,7 @@ struct Updater {
|
||||
while(battery_cap < min_battery_cap) {
|
||||
battery_cap = battery_capacity();
|
||||
battery_cap_text = std::to_string(battery_cap);
|
||||
usleep(1000000);
|
||||
util::sleep_for(1000);
|
||||
}
|
||||
set_running();
|
||||
}
|
||||
@@ -751,12 +750,12 @@ struct Updater {
|
||||
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
framebuffer_swap(fb);
|
||||
fb->swap();
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
|
||||
// no simple way to do 30fps vsync with surfaceflinger...
|
||||
usleep(30000);
|
||||
util::sleep_for(30);
|
||||
}
|
||||
|
||||
if (update_thread_handle.joinable()) {
|
||||
|
||||
@@ -1,4 +0,0 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
+76
-24
@@ -8,12 +8,8 @@ source "$BASEDIR/launch_env.sh"
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
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
|
||||
|
||||
@@ -59,8 +55,7 @@ function two_init {
|
||||
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
|
||||
[ -d "/proc/irq/733" ] && echo 3 > /proc/irq/733/smp_affinity_list
|
||||
|
||||
# GPU and camera get cpu 2
|
||||
CAM_IRQS="177 178 179 180 181 182 183 184 185 186 192"
|
||||
@@ -96,17 +91,73 @@ function two_init {
|
||||
|
||||
"$DIR/installer/updater/updater" "file://$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
|
||||
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'
|
||||
|
||||
# set success flag for current boot slot
|
||||
sudo abctl --set_success
|
||||
|
||||
# Check if AGNOS update is required
|
||||
if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
|
||||
# Get number of slot to switch to
|
||||
CUR_SLOT=$(abctl --boot_slot)
|
||||
if [[ "$CUR_SLOT" == "_a" ]]; then
|
||||
OTHER_SLOT="_b"
|
||||
OTHER_SLOT_NUMBER="1"
|
||||
else
|
||||
OTHER_SLOT="_a"
|
||||
OTHER_SLOT_NUMBER="0"
|
||||
fi
|
||||
echo "Cur slot $CUR_SLOT, target $OTHER_SLOT"
|
||||
|
||||
# Get expected hashes from manifest
|
||||
MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
|
||||
SYSTEM_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"system\") | .hash_raw" $MANIFEST)
|
||||
SYSTEM_SIZE=$(jq -r ".[] | select(.name == \"system\") | .size" $MANIFEST)
|
||||
BOOT_HASH_EXPECTED=$(jq -r ".[] | select(.name == \"boot\") | .hash_raw" $MANIFEST)
|
||||
BOOT_SIZE=$(jq -r ".[] | select(.name == \"boot\") | .size" $MANIFEST)
|
||||
echo "Expected hashes:"
|
||||
echo "System: $SYSTEM_HASH_EXPECTED"
|
||||
echo "Boot: $BOOT_HASH_EXPECTED"
|
||||
|
||||
# Read hashes from alternate partitions, should already be flashed by updated
|
||||
SYSTEM_HASH=$(dd if="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 skip="$SYSTEM_SIZE" count=64 2>/dev/null)
|
||||
BOOT_HASH=$(dd if="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 skip="$BOOT_SIZE" count=64 2>/dev/null)
|
||||
echo "Found hashes:"
|
||||
echo "System: $SYSTEM_HASH"
|
||||
echo "Boot: $BOOT_HASH"
|
||||
|
||||
if [[ "$SYSTEM_HASH" == "$SYSTEM_HASH_EXPECTED" && "$BOOT_HASH" == "$BOOT_HASH_EXPECTED" ]]; then
|
||||
echo "Swapping active slot to $OTHER_SLOT_NUMBER"
|
||||
|
||||
# Clean hashes before swapping to prevent looping
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
|
||||
sync
|
||||
|
||||
abctl --set_active "$OTHER_SLOT_NUMBER"
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
else
|
||||
echo "Hash mismatch, downloading agnos"
|
||||
if $DIR/selfdrive/hardware/tici/agnos.py $MANIFEST; then
|
||||
echo "Download done, swapping active slot to $OTHER_SLOT_NUMBER"
|
||||
|
||||
# Clean hashes before swapping to prevent looping
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/system$OTHER_SLOT" bs=1 seek="$SYSTEM_SIZE" count=64
|
||||
dd if=/dev/zero of="/dev/disk/by-partlabel/boot$OTHER_SLOT" bs=1 seek="$BOOT_SIZE" count=64
|
||||
sync
|
||||
|
||||
abctl --set_active "$OTHER_SLOT_NUMBER"
|
||||
fi
|
||||
|
||||
sleep 1
|
||||
sudo reboot
|
||||
fi
|
||||
fi
|
||||
}
|
||||
|
||||
@@ -144,6 +195,7 @@ function launch {
|
||||
|
||||
echo "Restarting launch script ${LAUNCHER_LOCATION}"
|
||||
unset REQUIRED_NEOS_VERSION
|
||||
unset AGNOS_VERSION
|
||||
exec "${LAUNCHER_LOCATION}"
|
||||
else
|
||||
echo "openpilot backup found, not updating"
|
||||
@@ -153,23 +205,23 @@ function launch {
|
||||
fi
|
||||
fi
|
||||
|
||||
# comma two init
|
||||
# handle pythonpath
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
# hardware specific init
|
||||
if [ -f /EON ]; then
|
||||
two_init
|
||||
elif [ -f /TICI ]; then
|
||||
tici_init
|
||||
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
|
||||
cd selfdrive/manager
|
||||
./build.py && ./manager.py
|
||||
|
||||
# if broken, keep on screen error
|
||||
while true; do sleep 1; done
|
||||
|
||||
+5
-1
@@ -7,7 +7,11 @@ export OPENBLAS_NUM_THREADS=1
|
||||
export VECLIB_MAXIMUM_THREADS=1
|
||||
|
||||
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
||||
export REQUIRED_NEOS_VERSION="15-1"
|
||||
export REQUIRED_NEOS_VERSION="16.2"
|
||||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="0.11"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -18,5 +18,8 @@ libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "commo
|
||||
# Build packer and parser
|
||||
lenv = envCython.Clone()
|
||||
lenv["LINKFLAGS"] += [libdbc[0].get_labspath()]
|
||||
lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
||||
lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
||||
packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
|
||||
lenv.Depends(parser, libdbc)
|
||||
lenv.Depends(packer, libdbc)
|
||||
|
||||
@@ -112,7 +112,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x86: // LWI_01 Steering Angle
|
||||
crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
|
||||
break;
|
||||
case 0x9F: // EPS_01 Electric Power Steering
|
||||
case 0x9F: // LH_EPS_03 Electric Power Steering
|
||||
crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
|
||||
break;
|
||||
case 0xAD: // Getriebe_11 Automatic Gearbox
|
||||
@@ -125,7 +125,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
|
||||
break;
|
||||
case 0x117: // ACC_10 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
|
||||
crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
|
||||
break;
|
||||
case 0x120: // TSK_06 Drivetrain Coordinator
|
||||
crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
|
||||
@@ -151,6 +151,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
|
||||
crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
|
||||
break;
|
||||
case 0x324: // ACC_04 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
|
||||
break;
|
||||
case 0x3C0: // Klemmen_Status_01 ignition and starting status
|
||||
crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
|
||||
break;
|
||||
|
||||
+15
-2
@@ -5,8 +5,12 @@
|
||||
#include <unordered_map>
|
||||
|
||||
#include "common_dbc.h"
|
||||
#include <capnp/dynamic.h>
|
||||
#include <capnp/serialize.h>
|
||||
|
||||
#ifndef DYNAMIC_CAPNP
|
||||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#endif
|
||||
|
||||
#define MAX_BAD_COUNTER 5
|
||||
|
||||
@@ -36,6 +40,9 @@ public:
|
||||
uint8_t counter;
|
||||
uint8_t counter_fail;
|
||||
|
||||
bool ignore_checksum = false;
|
||||
bool ignore_counter = false;
|
||||
|
||||
bool parse(uint64_t sec, uint16_t ts_, uint8_t * dat);
|
||||
bool update_counter_generic(int64_t v, int cnt_size);
|
||||
};
|
||||
@@ -43,6 +50,7 @@ public:
|
||||
class CANParser {
|
||||
private:
|
||||
const int bus;
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
|
||||
const DBC *dbc = NULL;
|
||||
std::unordered_map<uint32_t, MessageState> message_states;
|
||||
@@ -54,9 +62,13 @@ public:
|
||||
CANParser(int abus, const std::string& dbc_name,
|
||||
const std::vector<MessageParseOptions> &options,
|
||||
const std::vector<SignalParseOptions> &sigoptions);
|
||||
CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
|
||||
#ifndef DYNAMIC_CAPNP
|
||||
void update_string(const std::string &data, bool sendcan);
|
||||
void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
|
||||
#endif
|
||||
void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
|
||||
void UpdateValid(uint64_t sec);
|
||||
void update_string(std::string data, bool sendcan);
|
||||
std::vector<SignalValue> query_latest();
|
||||
};
|
||||
|
||||
@@ -68,5 +80,6 @@ private:
|
||||
|
||||
public:
|
||||
CANPacker(const std::string& dbc_name);
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter);
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
|
||||
Msg* lookup_message(uint32_t address);
|
||||
};
|
||||
|
||||
@@ -3,6 +3,7 @@
|
||||
#include <cstddef>
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
|
||||
|
||||
@@ -74,6 +75,7 @@ struct DBC {
|
||||
size_t num_vals;
|
||||
};
|
||||
|
||||
std::vector<const DBC*>& get_dbcs();
|
||||
const DBC* dbc_lookup(const std::string& dbc_name);
|
||||
|
||||
void dbc_register(const DBC* dbc);
|
||||
|
||||
@@ -2,15 +2,11 @@
|
||||
|
||||
#include "common_dbc.h"
|
||||
|
||||
namespace {
|
||||
|
||||
std::vector<const DBC*>& get_dbcs() {
|
||||
static std::vector<const DBC*> vec;
|
||||
return vec;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
const DBC* dbc_lookup(const std::string& dbc_name) {
|
||||
for (const auto& dbci : get_dbcs()) {
|
||||
if (dbc_name == dbci->name) {
|
||||
|
||||
@@ -20,7 +20,7 @@ uint64_t ReverseBytes(uint64_t x) {
|
||||
((x & 0x00000000000000ffull) << 56);
|
||||
}
|
||||
|
||||
uint64_t set_value(uint64_t ret, Signal sig, int64_t ival){
|
||||
static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
|
||||
int shift = sig.is_little_endian? sig.b1 : sig.bo;
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << shift;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
|
||||
@@ -59,7 +59,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
WARN("undefined signal %s - %d\n", name.c_str(), address);
|
||||
continue;
|
||||
}
|
||||
auto sig = sig_it->second;
|
||||
const auto& sig = sig_it->second;
|
||||
|
||||
int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
|
||||
if (ival < 0) {
|
||||
@@ -75,7 +75,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
WARN("COUNTER not defined\n");
|
||||
return ret;
|
||||
}
|
||||
auto sig = sig_it->second;
|
||||
const auto& sig = sig_it->second;
|
||||
|
||||
if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
|
||||
WARN("COUNTER signal type not valid\n");
|
||||
@@ -86,7 +86,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
|
||||
auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
|
||||
if (sig_it_checksum != signal_lookup.end()) {
|
||||
auto sig = sig_it_checksum->second;
|
||||
const auto& sig = sig_it_checksum->second;
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
@@ -112,3 +112,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
Msg* CANPacker::lookup_message(uint32_t address) {
|
||||
return &message_lookup[address];
|
||||
}
|
||||
|
||||
+138
-86
@@ -13,7 +13,6 @@
|
||||
// #define DEBUG printf
|
||||
#define INFO printf
|
||||
|
||||
|
||||
bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
|
||||
uint64_t dat_le = read_u64_le(dat);
|
||||
uint64_t dat_be = read_u64_be(dat);
|
||||
@@ -34,47 +33,52 @@ bool MessageState::parse(uint64_t sec, uint16_t ts_, uint8_t * dat) {
|
||||
|
||||
DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
|
||||
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
if (honda_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
if (!ignore_checksum) {
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
if (honda_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
if (toyota_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
|
||||
if (volkswagen_crc(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CRC FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
if (subaru_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
if (chrysler_checksum(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM) {
|
||||
if (pedal_checksum(dat_be, size) != tmp) {
|
||||
INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
} else if (sig.type == SignalType::HONDA_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
if (toyota_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
|
||||
if (volkswagen_crc(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CRC FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
|
||||
}
|
||||
if (!ignore_counter) {
|
||||
if (sig.type == SignalType::HONDA_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
if (subaru_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
if (chrysler_checksum(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM) {
|
||||
if (pedal_checksum(dat_be, size) != tmp) {
|
||||
INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -108,26 +112,24 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
|
||||
CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
const std::vector<MessageParseOptions> &options,
|
||||
const std::vector<SignalParseOptions> &sigoptions)
|
||||
: bus(abus) {
|
||||
: bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
|
||||
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
init_crc_lookup_tables();
|
||||
|
||||
for (const auto& op : options) {
|
||||
MessageState state = {
|
||||
.address = op.address,
|
||||
// .check_frequency = op.check_frequency,
|
||||
};
|
||||
MessageState &state = message_states[op.address];
|
||||
state.address = op.address;
|
||||
// state.check_frequency = op.check_frequency,
|
||||
|
||||
// msg is not valid if a message isn't received for 10 consecutive steps
|
||||
if (op.check_frequency > 0) {
|
||||
state.check_threshold = (1000000000ULL / op.check_frequency) * 10;
|
||||
}
|
||||
|
||||
|
||||
const Msg* msg = NULL;
|
||||
for (int i=0; i<dbc->num_msgs; i++) {
|
||||
for (int i = 0; i < dbc->num_msgs; i++) {
|
||||
if (dbc->msgs[i].address == op.address) {
|
||||
msg = &dbc->msgs[i];
|
||||
break;
|
||||
@@ -141,7 +143,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
state.size = msg->size;
|
||||
|
||||
// track checksums and counters for this message
|
||||
for (int i=0; i<msg->num_sigs; i++) {
|
||||
for (int i = 0; i < msg->num_sigs; i++) {
|
||||
const Signal *sig = &msg->sigs[i];
|
||||
if (sig->type != SignalType::DEFAULT) {
|
||||
state.parse_sigs.push_back(*sig);
|
||||
@@ -153,7 +155,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
for (const auto& sigop : sigoptions) {
|
||||
if (sigop.address != op.address) continue;
|
||||
|
||||
for (int i=0; i<msg->num_sigs; i++) {
|
||||
for (int i = 0; i < msg->num_sigs; i++) {
|
||||
const Signal *sig = &msg->sigs[i];
|
||||
if (strcmp(sig->name, sigop.name) == 0
|
||||
&& sig->type == SignalType::DEFAULT) {
|
||||
@@ -162,37 +164,105 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter)
|
||||
: bus(abus) {
|
||||
// Add all messages and signals
|
||||
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
init_crc_lookup_tables();
|
||||
|
||||
for (int i = 0; i < dbc->num_msgs; i++) {
|
||||
const Msg* msg = &dbc->msgs[i];
|
||||
MessageState state = {
|
||||
.address = msg->address,
|
||||
.size = msg->size,
|
||||
.ignore_checksum = ignore_checksum,
|
||||
.ignore_counter = ignore_counter,
|
||||
};
|
||||
|
||||
for (int j = 0; j < msg->num_sigs; j++) {
|
||||
const Signal *sig = &msg->sigs[j];
|
||||
state.parse_sigs.push_back(*sig);
|
||||
state.vals.push_back(0);
|
||||
}
|
||||
|
||||
message_states[state.address] = state;
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef DYNAMIC_CAPNP
|
||||
void CANParser::update_string(const std::string &data, bool sendcan) {
|
||||
// format for board, make copy due to alignment issues.
|
||||
const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1;
|
||||
if (aligned_buf.size() < buf_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(buf_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data.data(), data.length());
|
||||
|
||||
// extract the messages
|
||||
capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
|
||||
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
||||
|
||||
last_sec = event.getLogMonoTime();
|
||||
|
||||
auto cans = sendcan? event.getSendcan() : event.getCan();
|
||||
UpdateCans(last_sec, cans);
|
||||
|
||||
UpdateValid(last_sec);
|
||||
}
|
||||
|
||||
void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
|
||||
int msg_count = cans.size();
|
||||
int msg_count = cans.size();
|
||||
|
||||
DEBUG("got %d messages\n", msg_count);
|
||||
DEBUG("got %d messages\n", msg_count);
|
||||
|
||||
for (int i = 0; i < msg_count; i++) {
|
||||
auto cmsg = cans[i];
|
||||
// parse the messages
|
||||
for (int i = 0; i < msg_count; i++) {
|
||||
auto cmsg = cans[i];
|
||||
if (cmsg.getSrc() != bus) {
|
||||
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
auto state_it = message_states.find(cmsg.getAddress());
|
||||
if (state_it == message_states.end()) {
|
||||
// DEBUG("skip %d: not specified\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
state_it->second.parse(sec, cmsg.getBusTime(), dat);
|
||||
if (cmsg.getSrc() != bus) {
|
||||
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
auto state_it = message_states.find(cmsg.getAddress());
|
||||
if (state_it == message_states.end()) {
|
||||
// DEBUG("skip %d: not specified\n", cmsg.getAddress());
|
||||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
|
||||
state_it->second.parse(sec, cmsg.getBusTime(), dat);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cmsg) {
|
||||
// assume message struct is `cereal::CanData` and parse
|
||||
assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime"));
|
||||
|
||||
if (cmsg.get("src").as<uint8_t>() != bus) {
|
||||
DEBUG("skip %d: wrong bus\n", cmsg.get("address").as<uint32_t>());
|
||||
return;
|
||||
}
|
||||
|
||||
auto state_it = message_states.find(cmsg.get("address").as<uint32_t>());
|
||||
if (state_it == message_states.end()) {
|
||||
DEBUG("skip %d: not specified\n", cmsg.get("address").as<uint32_t>());
|
||||
return;
|
||||
}
|
||||
|
||||
auto dat = cmsg.get("dat").as<capnp::Data>();
|
||||
if (dat.size() > 8) return; //shouldn't ever happen
|
||||
uint8_t data[8] = {0};
|
||||
memcpy(data, dat.begin(), dat.size());
|
||||
state_it->second.parse(sec, cmsg.get("busTime").as<uint16_t>(), data);
|
||||
}
|
||||
|
||||
void CANParser::UpdateValid(uint64_t sec) {
|
||||
@@ -208,24 +278,6 @@ void CANParser::UpdateValid(uint64_t sec) {
|
||||
}
|
||||
}
|
||||
|
||||
void CANParser::update_string(std::string data, bool sendcan) {
|
||||
// format for board, make copy due to alignment issues, will be freed on out of scope
|
||||
auto amsg = kj::heapArray<capnp::word>((data.length() / sizeof(capnp::word)) + 1);
|
||||
memcpy(amsg.begin(), data.data(), data.length());
|
||||
|
||||
// extract the messages
|
||||
capnp::FlatArrayMessageReader cmsg(amsg);
|
||||
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
|
||||
|
||||
last_sec = event.getLogMonoTime();
|
||||
|
||||
auto cans = sendcan? event.getSendcan() : event.getCan();
|
||||
UpdateCans(last_sec, cans);
|
||||
|
||||
UpdateValid(last_sec);
|
||||
}
|
||||
|
||||
|
||||
std::vector<SignalValue> CANParser::query_latest() {
|
||||
std::vector<SignalValue> ret;
|
||||
|
||||
|
||||
@@ -106,8 +106,12 @@ def process(in_fn, out_fn):
|
||||
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
|
||||
|
||||
with open(out_fn, "w") as out_f:
|
||||
out_f.write(parser_code)
|
||||
with open(out_fn, "a+") as out_f:
|
||||
out_f.seek(0)
|
||||
if out_f.read() != parser_code:
|
||||
out_f.seek(0)
|
||||
out_f.truncate()
|
||||
out_f.write(parser_code)
|
||||
|
||||
def main():
|
||||
if len(sys.argv) != 3:
|
||||
|
||||
@@ -300,6 +300,7 @@ BO_ 501 DASHBOARD: 8 XXX
|
||||
SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX
|
||||
SG_ CRUISE_STATE : 38|3@0+ (1,0) [0|7] "" XXX
|
||||
|
||||
BO_ 639 NEW_MSG_27f: 8 XXX
|
||||
SG_ INCREASING : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
@@ -425,9 +426,11 @@ CM_ SG_ 500 ACC_STATUS_1 "2 briefly (9 packets) when ACC goes to green, 1 help w
|
||||
CM_ SG_ 500 BRAKE_MAYBE "2046 in non-ACC and non-decel. Signal on deceleration. 818 for already stopped break.";
|
||||
CM_ SG_ 500 ACC_STATUS_2 "set to 1 in non-ACC, 3 when ACC enabled (white icon), and 7 when ACC in use (green icon)";
|
||||
CM_ SG_ 500 BRAKE_BOOL_1 "set to 1 when ACC decel. 0 on non-ACC and accel.";
|
||||
CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both.";
|
||||
CM_ SG_ 625 SPEED "zero on non-acc drives";
|
||||
CM_ SG_ 625 ACCEL_PERHAPS "set to 7767 on non-ACC drives. ACC drive 40k is constant speed, 42k is accelerating";
|
||||
CM_ SG_ 268 BRAKE_PERHAPS "triggers only on ACC braking";
|
||||
CM_ SG_ 384 NEW_SIGNAL_1 "set in ACC gas driving. not set in electric human. not sure about gas human driving.";
|
||||
VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged";
|
||||
VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
||||
VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left" ;
|
||||
|
||||
@@ -133,8 +133,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
|
||||
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-540|540] "deg" NEO
|
||||
SG_ SteeringWheelRate : 27|12@0- (0.5,0) [-100|100] "deg/s" NEO
|
||||
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
|
||||
SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO
|
||||
|
||||
BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
|
||||
SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -48,6 +48,7 @@ BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
|
||||
@@ -996,7 +996,7 @@ BO_ 1342 LKAS12: 6 LDWS_LKAS
|
||||
SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU
|
||||
SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU
|
||||
SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
|
||||
SG_ CF_Lkas_Daw_USM : 39|3@1+ (1,0) [0|7] "" CLU
|
||||
SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU
|
||||
|
||||
BO_ 1338 TMU_GW_E_01: 8 CLU
|
||||
SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM
|
||||
@@ -1470,19 +1470,24 @@ BO_ 1186 FRT_RADAR11: 2 FCA
|
||||
SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
|
||||
|
||||
BO_ 905 SCC14: 8 SCC
|
||||
SG_ ComfortBandUpper : 0|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
|
||||
SG_ ComfortBandLower : 6|6@1+ (0.0986,-4.14) [0|1.26] "m/s^2" ESC
|
||||
SG_ JerkUpperLimit : 12|7@1+ (1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
|
||||
SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
|
||||
SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
|
||||
SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
|
||||
SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
|
||||
|
||||
BO_ 1157 LFAHDA_MFC: 4 XXX
|
||||
SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACTIVE2 : 4|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LFA_SysWarning : 16|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACTIVE : 25|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LFA_USM : 28|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
|
||||
SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 913 BCM_PO_11: 8 Vector__XXX
|
||||
SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
|
||||
@@ -1565,7 +1570,7 @@ BO_ 352 AHB1: 8 iBAU
|
||||
SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
|
||||
|
||||
BO_ 1191 4a7MFC: 8 XXX
|
||||
BO_ 1191 MFC_4a7: 8 XXX
|
||||
SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1162 BCA11: 8 BCW
|
||||
@@ -1575,9 +1580,11 @@ BO_ 1162 BCA11: 8 BCW
|
||||
SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
|
||||
SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
|
||||
|
||||
BO_ 1136 P_STS: 6 CGW
|
||||
BO_ 1136 P_STS: 8 CGW
|
||||
SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
|
||||
SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
|
||||
SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS
|
||||
SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS
|
||||
|
||||
BO_ 304 YRS11: 8 ACU
|
||||
SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
|
||||
@@ -1601,14 +1608,14 @@ BO_ 320 YRS12: 8 ACU
|
||||
BO_ 1173 YRS13: 8 ACU
|
||||
SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
|
||||
|
||||
BO_ 870 366_EMS: 8 EMS
|
||||
SG_ N : 7|16@0+ (1,0.25) [0|16383.75] "rpm" XXX
|
||||
SG_ EMS_Related : 23|16@0+ (1,0) [0|65535] "" XXX
|
||||
SG_ TQFR : 39|8@0+ (0.390625,0) [0|99.6094] "%" XXX
|
||||
BO_ 870 EMS_366: 8 EMS
|
||||
SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
|
||||
SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS
|
||||
SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
|
||||
SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
|
||||
SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 854 356: 8 XXX
|
||||
BO_ 854 M_356: 8 XXX
|
||||
SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -1633,3 +1640,7 @@ BO_ 1042 ICM_412h: 8 ICM
|
||||
SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
|
||||
|
||||
VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
|
||||
VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
|
||||
VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
|
||||
VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
|
||||
VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -271,6 +271,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -333,6 +334,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -362,8 +364,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -271,6 +271,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -333,6 +334,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -362,8 +364,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
@@ -254,6 +254,7 @@ BO_ 1410 VIN_PART_3: 8 CGW
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ ODOMETER : 43|20@0+ (1,0) [0|1048575] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
@@ -316,6 +317,7 @@ CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
@@ -345,8 +347,9 @@ CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
|
||||
+59
-40
@@ -1194,18 +1194,18 @@ BO_ 294 HCA_01: 8 XXX
|
||||
SG_ SET_ME_0XFE : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_0X07 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 159 EPS_01: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Steering_Wheel_Angle : 16|13@1+ (0.15,0) [0|16383] "Unit_DegreOfArc" XXX
|
||||
SG_ Steering_Wheel_Angle_VZ : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HCA_Active : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HCA_Standby : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_Status2 : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ HCA_Ready : 32|1@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Driver_Strain : 40|13@1+ (1,0) [0|255] "Nm" XXX
|
||||
SG_ Driver_Strain_VZ : 55|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Unknown_Status1 : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
BO_ 159 LH_EPS_03: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EPS_DSR_Status : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EPS_Berechneter_LW : 16|12@1+ (0.15,0) [0|613.95] "Unit_DegreOfArc" XXX
|
||||
SG_ EPS_BLW_QBit : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EPS_VZ_BLW : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EPS_HCA_Status : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ EPS_Lenkmoment : 40|10@1+ (1,0) [0|8] "Unit_centiNewtoMeter" XXX
|
||||
SG_ EPS_Lenkmoment_QBit : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EPS_VZ_Lenkmoment : 55|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ EPS_Lenkungstyp : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 286 VehicleSpeed: 8 XXX
|
||||
SG_ VehicleSpeed_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
@@ -1213,34 +1213,44 @@ BO_ 286 VehicleSpeed: 8 XXX
|
||||
SG_ Speed : 52|12@1+ (0.125,0) [0|1] "" XXX
|
||||
|
||||
BO_ 919 LDW_02: 8 XXX
|
||||
SG_ LDW_DLC : 40|8@1+ (0.01,0) [0|255] "m" XXX
|
||||
SG_ LDW_TLC : 48|5@1+ (0.05,0) [0|255] "Seconds" XXX
|
||||
SG_ LDW_Unknown : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Alert_Message : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LDW_Direction : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Right_Lane_Status : 36|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Left_Lane_Status : 38|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Kombi_Lamp_Orange : 61|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Kombi_Lamp_Green : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Gong : 12|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_SW_Warnung_links : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_SW_Warnung_rechts : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Texte : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LDW_Seite_DLCTLC : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Lernmodus : 21|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LDW_Anlaufsp_VLR : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LDW_Vib_Amp_VLR : 28|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LDW_Anlaufzeit_VLR : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LDW_Lernmodus_rechts : 36|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_Lernmodus_links : 38|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_DLC : 40|8@1+ (0.01,-1.25) [-1.25|1.25] "Unit_Meter" XXX
|
||||
SG_ LDW_TLC : 48|5@1+ (0.1,0) [0|3] "Unit_Secon" XXX
|
||||
SG_ LDW_Warnung_links : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Warnung_rechts : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Codierinfo_fuer_VLR : 58|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_Frontscheibenheizung_aktiv : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Status_LED_gelb : 61|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_Status_LED_gruen : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDW_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 780 ACC_02: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ SetSpeed : 12|10@1+ (0.08865,0) [0|90.68] "Unit_MeterPerSecond" XXX
|
||||
SG_ Kollision1 : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Abstand : 24|10@1+ (0.1,0) [0|102.3] "m" XXX
|
||||
SG_ ACC_MinusInv : 36|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACC_Minus : 38|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Kollision2 : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ MotorbitB5_1 : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ 1_aktivieren : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Tacho_LED : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Hebelquit : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ 1_aktivieren_inv : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Folgefahrt : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ MotorbitB5_7 : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SetAbstand : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Hebel : 56|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_Wunschgeschw : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour" XXX
|
||||
SG_ ACC_Status_Prim_Anz : 22|2@1+ (1.0,0.0) [0.0|3] "" XXX
|
||||
SG_ ACC_Abstandsindex : 24|10@1+ (1,0) [1|1021] "" XXX
|
||||
SG_ ACC_Akustik : 34|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
SG_ ACC_Gesetzte_Zeitluecke : 37|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
SG_ ACC_Optischer_Fahrerhinweis : 40|1@1+ (1.0,0.0) [0.0|1] "" XXX
|
||||
SG_ ACC_Typ_Tachokranz : 41|1@1+ (1.0,0.0) [0.0|1] "" XXX
|
||||
SG_ ACC_Anzeige_Zeitluecke : 42|1@1+ (1.0,0.0) [0.0|1] "" XXX
|
||||
SG_ ACC_Tachokranz : 43|1@1+ (1.0,0.0) [0.0|1] "" XXX
|
||||
SG_ ACC_Display_Prio : 44|2@1+ (1.0,0.0) [0.0|3] "" XXX
|
||||
SG_ ACC_Relevantes_Objekt : 46|2@1+ (1.0,0.0) [0.0|3] "" XXX
|
||||
SG_ ACC_Texte_Primaeranz : 48|7@1+ (1.0,0.0) [0.0|127] "" XXX
|
||||
SG_ ACC_Wunschgeschw_erreicht : 55|1@1+ (1.0,0.0) [0.0|1] "" XXX
|
||||
SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
|
||||
BO_ 302 ACC_07: 8 XXX
|
||||
SG_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
@@ -1276,8 +1286,17 @@ BO_ 783 SWA_01: 8 Gateway_MQB
|
||||
SG_ SWA_KD_Fehler : 59|1@1+ (1,0) [0|1] "" Vector__XXX
|
||||
|
||||
BO_ 804 ACC_04: 8 XXX
|
||||
SG_ ACC_04_CRC : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_04_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_Texte_Zusatzanz : 16|6@1+ (1.0,0.0) [0.0|63] "" XXX
|
||||
SG_ ACC_Status_Zusatzanz : 22|5@1+ (1.0,0.0) [0.0|31] "" XXX
|
||||
SG_ ACC_Texte : 27|5@1+ (1.0,0.0) [0.0|31] "" XXX
|
||||
SG_ ACC_Texte_braking_guard : 32|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
SG_ ACC_Warnhinweis : 35|1@1+ (1.0,0.0) [0.0|1] "" XXX
|
||||
SG_ ACC_Geschw_Zielfahrzeug : 40|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour" XXX
|
||||
SG_ ACC_Charisma_FahrPr : 56|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
SG_ ACC_Charisma_Status : 59|2@1+ (1.0,0.0) [0.0|3] "" XXX
|
||||
SG_ ACC_Charisma_Umschaltung : 61|2@1+ (1.0,0.0) [0.0|3] "" XXX
|
||||
|
||||
BO_ 917 LWR_AFS_01: 8 XXX
|
||||
|
||||
|
||||
+2
-1
@@ -13,6 +13,7 @@ pandacan.egg-info/
|
||||
board/obj/
|
||||
examples/output.csv
|
||||
.DS_Store
|
||||
.vscode
|
||||
.vscode*
|
||||
nosetests.xml
|
||||
.mypy_cache/
|
||||
.sconsign.dblite
|
||||
|
||||
+1
-1
@@ -1,3 +1,3 @@
|
||||
# flake8: noqa
|
||||
# pylint: skip-file
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
|
||||
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, BASEDIR, ensure_st_up_to_date, PandaSerial
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
PROJ_NAME = panda
|
||||
CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
|
||||
|
||||
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
|
||||
CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
|
||||
STARTUP_FILE = startup_stm32f413xx
|
||||
|
||||
include build.mk
|
||||
@@ -21,7 +21,8 @@ Programming
|
||||
**Panda**
|
||||
|
||||
```
|
||||
make
|
||||
scons -u # Compile
|
||||
./flash.sh # Compile & Flash
|
||||
```
|
||||
|
||||
Troubleshooting
|
||||
@@ -29,7 +30,7 @@ Troubleshooting
|
||||
|
||||
If your panda will not flash and is quickly blinking a single Green LED, use:
|
||||
```
|
||||
make recover
|
||||
./recover.sh
|
||||
```
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,158 @@
|
||||
import os
|
||||
import subprocess
|
||||
|
||||
EON = os.path.isfile('/EON')
|
||||
TICI = os.path.isfile('/TICI')
|
||||
PC = not (EON or TICI)
|
||||
|
||||
PREFIX = "arm-none-eabi-"
|
||||
BUILDER = "DEV"
|
||||
|
||||
if os.getenv("PEDAL"):
|
||||
PROJECT = "pedal"
|
||||
STARTUP_FILE = "startup_stm32f205xx.s"
|
||||
MAIN = "pedal/main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m3",
|
||||
"-msoft-float",
|
||||
"-DSTM32F2",
|
||||
"-DSTM32F205xx",
|
||||
"-O2",
|
||||
"-DPEDAL",
|
||||
]
|
||||
|
||||
else:
|
||||
PROJECT = "panda"
|
||||
STARTUP_FILE = "startup_stm32f413xx.s"
|
||||
MAIN = "main.c"
|
||||
PROJECT_FLAGS = [
|
||||
"-mcpu=cortex-m4",
|
||||
"-mhard-float",
|
||||
"-DSTM32F4",
|
||||
"-DSTM32F413xx",
|
||||
"-mfpu=fpv4-sp-d16",
|
||||
"-fsingle-precision-constant",
|
||||
"-Os",
|
||||
"-g",
|
||||
]
|
||||
|
||||
if not PC:
|
||||
PROJECT_FLAGS += ["-DEON"]
|
||||
BUILDER = "EON"
|
||||
|
||||
|
||||
def get_version(builder, build_type):
|
||||
version_file = File('../VERSION').srcnode().abspath
|
||||
version = open(version_file).read()
|
||||
try:
|
||||
git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip()
|
||||
except subprocess.CalledProcessError:
|
||||
git = "unknown"
|
||||
return f"{version}-{builder}-{git}-{build_type}"
|
||||
|
||||
|
||||
def to_c_uint32(x):
|
||||
nums = []
|
||||
for _ in range(0x20):
|
||||
nums.append(x % (2**32))
|
||||
x //= (2**32)
|
||||
return "{" + 'U,'.join(map(str, nums)) + "U}"
|
||||
|
||||
|
||||
def get_key_header(name):
|
||||
from Crypto.PublicKey import RSA
|
||||
|
||||
public_fn = File(f'../certs/{name}.pub').srcnode().abspath
|
||||
rsa = RSA.importKey(open(public_fn).read())
|
||||
assert(rsa.size_in_bits() == 1024)
|
||||
|
||||
rr = pow(2**1024, 2, rsa.n)
|
||||
n0inv = 2**32 - pow(rsa.n, -1, 2**32)
|
||||
|
||||
r = [
|
||||
f"RSAPublicKey {name}_rsa_key = {{",
|
||||
f" .len = 0x20,",
|
||||
f" .n0inv = {n0inv}U,",
|
||||
f" .n = {to_c_uint32(rsa.n)},",
|
||||
f" .rr = {to_c_uint32(rr)},",
|
||||
f" .exponent = {rsa.e},",
|
||||
f"}};",
|
||||
]
|
||||
return r
|
||||
|
||||
|
||||
def objcopy(source, target, env, for_signature):
|
||||
return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
|
||||
|
||||
|
||||
linkerscript_fn = File("stm32_flash.ld").srcnode().abspath
|
||||
|
||||
flags = [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wstrict-prototypes",
|
||||
"-Werror",
|
||||
"-mlittle-endian",
|
||||
"-mthumb",
|
||||
"-nostdlib",
|
||||
"-fno-builtin",
|
||||
f"-T{linkerscript_fn}",
|
||||
"-std=gnu11",
|
||||
] + PROJECT_FLAGS
|
||||
|
||||
|
||||
if os.getenv("RELEASE"):
|
||||
BUILD_TYPE = "RELEASE"
|
||||
cert_fn = os.getenv("CERT")
|
||||
assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable'
|
||||
assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
|
||||
else:
|
||||
BUILD_TYPE = "DEBUG"
|
||||
cert_fn = File("../certs/debug").srcnode().abspath
|
||||
flags += ["-DALLOW_DEBUG"]
|
||||
|
||||
includes = [
|
||||
"inc",
|
||||
"..",
|
||||
".",
|
||||
]
|
||||
|
||||
panda_env = Environment(
|
||||
ENV=os.environ,
|
||||
CC=PREFIX + 'gcc',
|
||||
AS=PREFIX + 'gcc',
|
||||
OBJCOPY=PREFIX + 'objcopy',
|
||||
OBJDUMP=PREFIX + 'objdump',
|
||||
ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
|
||||
CFLAGS=flags,
|
||||
ASFLAGS=flags,
|
||||
LINKFLAGS=flags,
|
||||
CPPPATH=includes,
|
||||
BUILDERS={
|
||||
'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
|
||||
}
|
||||
)
|
||||
|
||||
# Common autogenerated includes
|
||||
version = f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";'
|
||||
gitversion = panda_env.Textfile("obj/gitversion.h", [version, ""])
|
||||
certs = [get_key_header(n) for n in ["debug", "release"]]
|
||||
certheader = panda_env.Textfile("obj/cert.h", certs + [""])
|
||||
|
||||
startup = panda_env.Object(STARTUP_FILE)
|
||||
|
||||
# Bootstub
|
||||
crypto = ["../crypto/rsa.c", "../crypto/sha.c"]
|
||||
bootstub_elf = panda_env.Program(f"obj/bootstub.{PROJECT}.elf", [startup] + crypto + ["bootstub.c"])
|
||||
Requires(bootstub_elf, gitversion)
|
||||
bootstub_bin = panda_env.Objcopy(f"obj/bootstub.{PROJECT}.bin", bootstub_elf)
|
||||
|
||||
# Build main
|
||||
main_elf = panda_env.Program(f"obj/{PROJECT}.elf", [startup, MAIN],
|
||||
LINKFLAGS=["-Wl,--section-start,.isr_vector=0x8004000"] + flags)
|
||||
Requires(main_elf, gitversion)
|
||||
main_bin = panda_env.Objcopy(f"obj/{PROJECT}.bin", main_elf)
|
||||
|
||||
# Sign main
|
||||
sign_py = File("../crypto/sign.py").srcnode().abspath
|
||||
panda_bin_signed = panda_env.Command(f"obj/{PROJECT}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
|
||||
@@ -59,9 +59,10 @@ void peripherals_init(void){
|
||||
RCC->APB1ENR |= RCC_APB1ENR_DACEN;
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // pedal and fan PWM
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // gmlan_alt and IR PWM
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // IR PWM
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN; // k-line init
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN; // interrupt timer
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM12EN; // gmlan_alt
|
||||
RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config
|
||||
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
|
||||
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
|
||||
|
||||
@@ -62,7 +62,23 @@ void dos_set_phone_power(bool enabled){
|
||||
}
|
||||
|
||||
void dos_set_usb_power_mode(uint8_t mode) {
|
||||
dos_set_bootkick(mode == USB_POWER_CDP);
|
||||
bool valid = false;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
dos_set_bootkick(false);
|
||||
valid = true;
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
dos_set_bootkick(true);
|
||||
valid = true;
|
||||
break;
|
||||
default:
|
||||
puts("Invalid USB power mode\n");
|
||||
break;
|
||||
}
|
||||
if (valid) {
|
||||
usb_power_mode = mode;
|
||||
}
|
||||
}
|
||||
|
||||
void dos_set_gps_mode(uint8_t mode) {
|
||||
|
||||
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Reference in New Issue
Block a user