StarPilot/openpilot/cereal/services.py

#!/usr/bin/env python3
from enum import IntEnum


# TODO: this should be automatically determined using the capnp schema
class QueueSize(IntEnum):
  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
  SMALL = 250 * 1024          # 250KB - most services


class Service:
  def __init__(self, should_log: bool, frequency: float, decimation: int | None = None,
               queue_size: QueueSize = QueueSize.SMALL):
    self.should_log = should_log
    self.frequency = frequency
    self.decimation = decimation
    self.queue_size = queue_size


_services: dict[str, tuple] = {
  "starpilotNavigation": (True, 1., 1),
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
  "gyroscope": (True, 104., 104),
  "accelerometer": (True, 104., 104),
  "temperatureSensor": (True, 2., 200),
  "deviceState": (True, 2., 1),
  "chestnutState": (True, 10., 1),
  "chestnutGpuState": (False, 10.),
  "touch": (True, 20., 1),
  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
  "starpilotLateralState": (True, 100., 10),
  "selfdriveState": (True, 100., 10),
  "starpilotSelfdriveState": (True, 100., 10),
  "pandaStates": (True, 10., 1),
  "peripheralState": (True, 2., 1),
  "radarState": (True, 20., 5),
  "starpilotRadarState": (True, 20., 5),
  # Sparse, gated camera observations; freshness is qualified from payload
  # clocks, never inferred from a nominal service frequency.
  "spotMonitorState": (True, 0., 1),
  "narrowRoadEncodeIdx": (False, 20., 1),
  "radarTracks": (True, 20.),
  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
  "logMessage": (True, 0., None, QueueSize.BIG),
  # Recorder-only transport carrying Event.logMessage, retained in qlog.
  "modelIdentity": (True, 0.2, 1),
  "errorLogMessage": (True, 0., 1, QueueSize.BIG),
  "extrinsicsCalibration": (True, 4., 4),
  "lateralTorqueParameters": (True, 4., 1),
  "lateralDelay": (True, 4., 1),
  "operatingSystemLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "carOutput": (True, 100., 10),
  "longitudinalPlan": (True, 20., 10),
  "slcState": (True, 20., 10),
  "slcAction": (True, 0., 1),
  "slcCruiseEvent": (True, 0., 1),
  "slcDashboardObservation": (True, 100., 10),
  "slcVisionObservation": (True, 6., 6),
  "slcCruiseCommand": (True, 20., 1),
  "aolAxisState": (True, 100., 10),
  "aolSafetyWire": (True, 10., 10),
  "aolIntentWire": (True, 100., 10),
  "laneChangeAssistWire": (True, 20., 10),
  "mapdOut": (True, 20., 10),
  "mapdExtendedOut": (True, 1., 1),
  "mapdIn": (True, 1., 1),
  "lateralManeuverPlan": (True, 20.),
  "driverAssistance": (True, 20., 20),
  "procLog": (True, 0.5, 15, QueueSize.BIG),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
  "qcomGnss": (True, 2.),
  "clocks": (True, 0.1, 1),
  "ubloxRaw": (True, 20.),
  "deviceMotion": (True, 20., 4),
  "vehicleParameters": (True, 20., 5),
  "cameraOdometry": (True, 20., 10),
  "thumbnail": (True, 1 / 60., 1),
  "onroadEvents": (True, 1., 1),
  "carParams": (True, 0.02, 1),
  "narrowRoadCameraState": (True, 20., 20),
  "cabinCameraState": (True, 20., 20),
  "cabinEncodeIdx": (False, 20., 1),
  "driverStateV2": (True, 20., 10),
  "driverMonitoringState": (True, 20., 10),
  "wideRoadEncodeIdx": (False, 20., 1),
  "wideRoadCameraState": (True, 20., 20),
  "drivingModelData": (True, 20., 10),
  "modelV2": (True, 20., None, QueueSize.BIG),
  "managerState": (True, 2., 1),
  "qNarrowRoadEncodeIdx": (False, 20.),
  "userBookmark": (True, 0., 1),
  "soundPressure": (True, 10., 10),
  "rawAudioData": (False, 20.),
  "bookmarkButton": (True, 0., 1),
  "narrowRoadEncodeData": (False, 20., None, QueueSize.BIG),
  "cabinEncodeData": (False, 20., None, QueueSize.BIG),
  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
  "qNarrowRoadEncodeData": (False, 20., None, QueueSize.BIG),

  # debug
  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
  "alertDebug": (True, 20., 5),
  "livestreamWideRoadEncodeIdx": (False, 20.),
  "livestreamNarrowRoadEncodeIdx": (False, 20.),
  "livestreamCabinEncodeIdx": (False, 20.),
  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "livestreamNarrowRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
  "livestreamCabinEncodeData": (False, 20., None, QueueSize.MEDIUM),
}
SERVICE_LIST = {name: Service(*vals) for
                idx, (name, vals) in enumerate(_services.items())}


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 += "#include <map>\n"
  h += "#include <string>\n"

  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
  h += "static std::map<std::string, 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 += f'  {{ "{k}", {{"{k}", {should_log}, {v.frequency:f}, {decimation:d}, {v.queue_size:d}}}}},\n'
  h += "};\n"

  h += "#endif\n"
  return h


if __name__ == "__main__":
  print(build_header())