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openpilot v0.7.8 release

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This commit is contained in:
Vehicle Researcher
2020-08-13 00:37:05 +00:00
parent f370bf5ba6
commit 0aa4867be4
147 changed files with 3679 additions and 2713 deletions
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cereal/messaging/socketmaster.cc
+23 -10
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@@ -2,20 +2,24 @@
#include <time.h>
#include "messaging.hpp"
#include "services.h"
#ifdef __APPLE__
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
#endif
static inline uint64_t nanos_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000000000ULL + t.tv_nsec;
}
static const service *get_service(const char *name) {
for (const auto &it : services) {
if (strcmp(it.name, name) == 0) return &it;
}
return nullptr;
}
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
for (auto &v : list) {
if (strcmp(value, v) == 0) return true;
@@ -24,7 +28,7 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
}
class MessageContext {
public:
public:
MessageContext() { ctx_ = Context::create(); }
~MessageContext() { delete ctx_; }
Context *ctx_;
@@ -53,18 +57,18 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
assert(socket != 0);
poller_->registerSocket(socket);
SubMessage *m = new SubMessage{
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
messages_[socket] = m;
services_[name] = m;
}
}
int SubMaster::update(int timeout) {
if (++frame_ == UINT64_MAX) frame_ = 1;
if (++frame == UINT64_MAX) frame = 1;
for (auto &kv : messages_) kv.second->updated = false;
int updated = 0;
@@ -89,7 +93,7 @@ int SubMaster::update(int timeout) {
m->event = m->msg_reader->getRoot<cereal::Event>();
m->updated = true;
m->rcv_time = current_time;
m->rcv_frame = frame_;
m->rcv_frame = frame;
m->valid = m->event.getValid();
++updated;
@@ -126,8 +130,17 @@ void SubMaster::drain() {
}
}
bool SubMaster::updated(const char *name) const { return services_.at(name)->updated; }
cereal::Event::Reader &SubMaster::operator[](const char *name) { return services_.at(name)->event; };
bool SubMaster::updated(const char *name) const {
return services_.at(name)->updated;
}
uint64_t SubMaster::rcv_frame(const char *name) const {
return services_.at(name)->rcv_frame;
}
cereal::Event::Reader &SubMaster::operator[](const char *name) {
return services_.at(name)->event;
};
SubMaster::~SubMaster() {
delete poller_;