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openpilot v0.7 release

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This commit is contained in:
Vehicle Researcher
2019-12-13 13:03:08 -08:00
parent 37134796c0
commit 36282d9752
840 changed files with 247180 additions and 7303 deletions
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selfdrive/locationd/Makefile
-115
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@@ -1,115 +0,0 @@
CC = clang
CXX = clang++
ARCH := $(shell uname -m)
OS := $(shell uname -o)
BASEDIR = ../..
PHONELIBS = ../../phonelibs
WARN_FLAGS = -Werror=implicit-function-declaration \
-Werror=incompatible-pointer-types \
-Werror=int-conversion \
-Werror=return-type \
-Werror=format-extra-args
CFLAGS = -std=gnu11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS) -Wall
CXXFLAGS = -std=c++11 -g -fPIC -I../ -I../../ -O2 $(WARN_FLAGS) -Wall
MESSAGING_FLAGS = -I$(BASEDIR)/selfdrive/messaging
MESSAGING_LIBS = $(BASEDIR)/selfdrive/messaging/messaging.a
EXTRA_LIBS = -lpthread
ifeq ($(ARCH),aarch64)
CFLAGS += -mcpu=cortex-a57
CXXFLAGS += -mcpu=cortex-a57
EXTRA_LIBS += -llog -luuid -lgnustl_shared
endif
JSON_FLAGS = -I$(PHONELIBS)/json/src
JSON11_FLAGS = -I$(PHONELIBS)/json11
ifeq ($(ARCH),x86_64)
ZMQ_FLAGS = -I$(BASEDIR)/phonelibs/zmq/x64/include
endif
.PHONY: all
all: ubloxd paramsd
include ../common/cereal.mk
LOC_OBJS = locationd_yawrate.o params_learner.o paramsd.o \
../common/swaglog.o \
../common/params.o \
../common/util.o \
$(PHONELIBS)/json11/json11.o \
$(PHONELIBS)/json/src/json.o \
$(CEREAL_OBJS)
LOC_DEPS := $(LOC_OBJS:.o=.d)
OBJS = ublox_msg.o \
ubloxd_main.o \
../common/swaglog.o \
../common/params.o \
../common/util.o \
$(PHONELIBS)/json/src/json.o \
$(CEREAL_OBJS)
DEPS := $(OBJS:.o=.d) ubloxd.d ubloxd_test.d
liblocationd.so: $(LOC_OBJS) $(MESSAGING_LIBS)
@echo "[ LINK ] $@"
$(CXX) -shared -o '$@' $^ \
$(CEREAL_LIBS) \
$(EXTRA_LIBS)
paramsd: $(LOC_OBJS) $(MESSAGING_LIBS)
@echo "[ LINK ] $@"
$(CXX) -fPIC -o '$@' $^ \
$(CEREAL_LIBS) \
$(EXTRA_LIBS)
ubloxd: ubloxd.o $(OBJS) $(MESSAGING_LIBS)
@echo "[ LINK ] $@"
$(CXX) -fPIC -o '$@' $^ \
$(CEREAL_LIBS) \
$(EXTRA_LIBS)
ubloxd_test: ubloxd_test.o $(OBJS) $(MESSAGING_LIBS)
@echo "[ LINK ] $@"
$(CXX) -fPIC -o '$@' $^ \
$(CEREAL_LIBS) \
$(EXTRA_LIBS)
%.o: %.cc
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) -MMD \
-Iinclude -I.. -I../.. \
$(CEREAL_CXXFLAGS) \
$(ZMQ_FLAGS) \
$(MESSAGING_FLAGS) \
$(JSON11_FLAGS) \
$(JSON_FLAGS) \
-I../ \
-I../../ \
-c -o '$@' '$<'
%.o: %.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -MMD \
-Iinclude -I.. -I../.. \
$(CEREAL_CFLAGS) \
$(ZMQ_FLAGS) \
$(JSON_FLAGS) \
-c -o '$@' '$<'
.PHONY: clean
clean:
rm -f ubloxd paramsd liblocationd.so ubloxd.d ubloxd.o ubloxd_test ubloxd_test.o ubloxd_test.d $(OBJS) $(LOC_OBJS) $(DEPS)
-include $(DEPS)
-include $(LOC_DEPS)
selfdrive/locationd/SConscript
+25
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@@ -0,0 +1,25 @@
Import('env', 'common', 'messaging')
loc_objs = [
"locationd_yawrate.cc",
"params_learner.cc",
"paramsd.cc"]
loc_libs = [messaging, 'zmq', common, 'capnp', 'kj', 'json', 'json11', 'pthread']
env.Program("paramsd", loc_objs, LIBS=loc_libs)
env.SharedLibrary("locationd", loc_objs, LIBS=loc_libs)
env.Program("ubloxd", [
"ubloxd.cc",
"ublox_msg.cc",
"ubloxd_main.cc"],
LIBS=loc_libs)
env.Program("ubloxd_test", [
"ubloxd_test.cc",
"ublox_msg.cc",
"ubloxd_main.cc"],
LIBS=loc_libs)
selfdrive/locationd/calibrationd.py
+1 -1
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@@ -4,7 +4,7 @@ import os
import copy
import json
import numpy as np
import selfdrive.messaging as messaging
import cereal.messaging as messaging
from selfdrive.locationd.calibration_helpers import Calibration
from selfdrive.swaglog import cloudlog
from common.params import Params, put_nonblocking
selfdrive/locationd/get_vp.c
-41
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@@ -1,41 +0,0 @@
int get_intersections(double *lines, double *intersections, long long n) {
double D, Dx, Dy;
double x, y;
double *L1, *L2;
int k = 0;
for (int i=0; i < n; i++) {
for (int j=0; j < n; j++) {
L1 = lines + i*3;
L2 = lines + j*3;
D = L1[0] * L2[1] - L1[1] * L2[0];
Dx = L1[2] * L2[1] - L1[1] * L2[2];
Dy = L1[0] * L2[2] - L1[2] * L2[0];
// only intersect lines from different quadrants and only left-right crossing
if ((D != 0) && (L1[0]*L2[0]*L1[1]*L2[1] < 0) && (L1[1]*L2[1] < 0)){
x = Dx / D;
y = Dy / D;
if ((0 < x) &&
(x < W) &&
(0 < y) &&
(y < H)){
intersections[k*2 + 0] = x;
intersections[k*2 + 1] = y;
k++;
}
}
}
}
return k;
}
void increment_grid(double *grid, double *lines, long long n) {
double *intersections = (double*) malloc(n*n*2*sizeof(double));
int y, x, k;
k = get_intersections(lines, intersections, n);
for (int i=0; i < k; i++) {
x = (int) (intersections[i*2 + 0] + 0.5);
y = (int) (intersections[i*2 + 1] + 0.5);
grid[y*(W+1) + x] += 1.;
}
free(intersections);
}
selfdrive/locationd/paramsd.cc
+7 -1
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@@ -34,6 +34,12 @@ int main(int argc, char *argv[]) {
SubSocket * sensor_events_sock = SubSocket::create(c, "sensorEvents");
SubSocket * camera_odometry_sock = SubSocket::create(c, "cameraOdometry");
PubSocket * live_parameters_sock = PubSocket::create(c, "liveParameters");
assert(controls_state_sock != NULL);
assert(sensor_events_sock != NULL);
assert(camera_odometry_sock != NULL);
assert(live_parameters_sock != NULL);
Poller * poller = Poller::create({controls_state_sock, sensor_events_sock, camera_odometry_sock});
Localizer localizer;
@@ -97,7 +103,7 @@ int main(int argc, char *argv[]) {
// Main loop
int save_counter = 0;
while (true){
for (auto s : poller->poll(-1)){
for (auto s : poller->poll(100)){
Message * msg = s->receive();
auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
selfdrive/locationd/test/ci_test.py
-3
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@@ -38,9 +38,6 @@ def main(args):
print('Extract file failed')
sys.exit(-3)
print('Compiling test app...')
subprocess.check_call(["make", "ubloxd_test"], cwd=ubloxd_dir)
print('Run regression test - CC parser...')
if args.valgrind:
subprocess.check_call(["valgrind", "--leak-check=full", os.path.join(ubloxd_dir, 'ubloxd_test'), stream_file_path, cc_output_dir])
selfdrive/locationd/test/test_params_learner.py
+1 -1
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@@ -6,7 +6,7 @@ import unittest
from selfdrive.car.honda.interface import CarInterface
from selfdrive.car.honda.values import CAR
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.locationd.liblocationd_py import liblocationd # pylint: disable=no-name-in-module, import-error
from selfdrive.locationd.liblocationd_py import liblocationd # pylint: disable=no-name-in-module, import-error
class TestParamsLearner(unittest.TestCase):
selfdrive/locationd/test/ublox.py
+1 -1
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@@ -720,7 +720,7 @@ class UBlox:
self.dev = PandaSerial(self.panda, 1, self.baudrate)
elif grey:
import selfdrive.messaging as messaging
import cereal.messaging as messaging
class BoarddSerial():
def __init__(self):
selfdrive/locationd/test/ubloxd.py
+1 -1
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@@ -9,7 +9,7 @@ import struct
import sys
from cereal import log
from common import realtime
import selfdrive.messaging as messaging
import cereal.messaging as messaging
from selfdrive.locationd.test.ephemeris import EphemerisData, GET_FIELD_U
panda = os.getenv("PANDA") is not None # panda directly connected
selfdrive/locationd/test/ubloxd_easy.py
+1 -1
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@@ -5,7 +5,7 @@ from selfdrive.locationd.test import ublox
from common import realtime
from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
import zmq
import selfdrive.messaging as messaging
import cereal.messaging as messaging
unlogger = os.getenv("UNLOGGER") is not None # debug prints
selfdrive/locationd/ubloxd_main.cc
+5
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@@ -44,6 +44,11 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
PubSocket * gpsLocationExternal = PubSocket::create(c, "gpsLocationExternal");
PubSocket * ubloxGnss = PubSocket::create(c, "ubloxGnss");
SubSocket * ubloxRaw = SubSocket::create(c, "ubloxRaw");
assert(gpsLocationExternal != NULL);
assert(ubloxGnss != NULL);
assert(ubloxRaw != NULL);
Poller * poller = Poller::create({ubloxRaw});