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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/ui/Makefile
-127
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@@ -1,127 +0,0 @@
CC = clang
CXX = clang++
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 -fPIC -O2 $(WARN_FLAGS)
CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
ZMQ_LIBS = -l:libczmq.a
MESSAGING_FLAGS = -I$(BASEDIR)/selfdrive/messaging
MESSAGING_LIBS = $(BASEDIR)/selfdrive/messaging/messaging.a
CEREAL_LIBS = -l:libcapn.a
CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
JSON_FLAGS = -I$(PHONELIBS)/json/src
OPENCL_FLAGS = -I$(PHONELIBS)/opencl/include
OPENCL_LIBS = -lgsl -lCB -lOpenCL
OPENGL_LIBS = -lGLESv3
OPENSL_LIBS = -lOpenSLES
UUID_LIBS = -luuid
FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
CFLAGS += -DQCOM \
-I$(PHONELIBS)/android_frameworks_native/include \
-I$(PHONELIBS)/android_system_core/include \
-I$(PHONELIBS)/android_hardware_libhardware/include
CXXFLAGS += -DQCOM \
-I$(PHONELIBS)/android_frameworks_native/include \
-I$(PHONELIBS)/android_system_core/include \
-I$(PHONELIBS)/android_hardware_libhardware/include
# ui can only be compiled for the phone
CFLAGS += -mcpu=cortex-a57
CXXFLAGS += -mcpu=cortex-a57
OBJS = slplay.o \
ui.o \
../common/glutil.o \
../common/visionipc.o \
../common/ipc.o \
../common/visionimg.o \
../common/visionbuf_ion.o \
../common/framebuffer.o \
../common/params.o \
../common/util.o \
../common/touch.o \
../common/swaglog.o \
$(PHONELIBS)/nanovg/nanovg.o \
$(PHONELIBS)/json/src/json.o \
$(CEREAL_OBJS)
DEPS := $(OBJS:.o=.d)
all: ui
ui: $(OBJS) $(MESSAGING_LIBS)
@echo "[ LINK ] $@"
$(CXX) -fPIC -o '$@' $^ \
$(FRAMEBUFFER_LIBS) \
$(CEREAL_LIBS) \
-lgnustl_shared \
-L/system/vendor/lib64 \
-lhardware -lui \
$(ZMQ_LIBS) \
$(OPENGL_LIBS) \
$(OPENCL_LIBS) \
${OPENSL_LIBS} \
${UUID_LIBS} \
-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib \
-lcutils -lm -llog -lui -ladreno_utils
slplay.o: slplay.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -fPIC \
-I../ \
$(OPENSL_LIBS) \
-c -o '$@' $^
%.o: %.cc
@echo "[ CXX ] $@"
$(CXX) $(CXXFLAGS) -MMD \
-Iinclude -I.. -I../.. \
$(OPENCL_FLAGS) \
$(NANOVG_FLAGS) \
$(ZMQ_FLAGS) \
$(MESSAGING_FLAGS) \
$(CEREAL_CFLAGS) \
$(JSON_FLAGS) \
-I$(PHONELIBS)/android_frameworks_native/include \
-I$(PHONELIBS)/android_system_core/include \
-I$(PHONELIBS)/android_hardware_libhardware/include \
-I$(PHONELIBS)/libgralloc/include \
-I$(PHONELIBS)/linux/include \
-c -o '$@' '$<'
%.o: %.c
@echo "[ CC ] $@"
$(CC) $(CFLAGS) -MMD \
-Iinclude -I.. -I../.. \
$(NANOVG_FLAGS) \
$(ZMQ_FLAGS) \
$(CEREAL_CFLAGS) \
$(JSON_FLAGS) \
$(OPENCL_FLAGS) \
-I$(PHONELIBS)/linux/include \
-c -o '$@' '$<'
.PHONY: clean
clean:
rm -f ui $(OBJS) $(DEPS)
-include $(DEPS)
selfdrive/ui/SConscript
+5
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@@ -0,0 +1,5 @@
Import('env', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
env.Program('_ui', ['ui.cc', 'slplay.c', '#phonelibs/nanovg/nanovg.c'],
LINKFLAGS=['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib'],
LIBS=[common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', 'GLESv3', 'EGL', cereal, 'gnustl_shared', 'log', 'utils', 'gui', 'hardware', 'ui', 'json', messaging, 'CB', 'OpenCL', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', gpucommon, visionipc])
selfdrive/ui/start.py
-7
View File
@@ -1,7 +0,0 @@
#!/usr/bin/env python3
import os
assert os.system("make") == 0
os.environ['LD_LIBRARY_PATH'] = "/system/lib64:"+os.environ['LD_LIBRARY_PATH']
os.execv("./ui", ["ui"])
selfdrive/ui/ui
Executable
+4
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@@ -0,0 +1,4 @@
#!/bin/sh
export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
exec ./_ui
selfdrive/ui/ui.cc
+73 -77
View File
@@ -55,12 +55,12 @@ extern "C"{
#define ALERTSIZE_MID 2
#define ALERTSIZE_FULL 3
//#define UI_60FPS
#define UI_BUF_COUNT 4
//#define SHOW_SPEEDLIMIT 1
//#define DEBUG_TURN
//#define DEBUG_FPS
const int vwp_w = 1920;
const int vwp_h = 1080;
const int nav_w = 640;
@@ -122,7 +122,6 @@ typedef struct UIScene {
int transformed_width, transformed_height;
uint64_t model_ts;
ModelData model;
float mpc_x[50];
@@ -165,8 +164,6 @@ typedef struct UIScene {
float awareness_status;
uint64_t started_ts;
// Used to show gps planner status
bool gps_planner_active;
} UIScene;
@@ -208,17 +205,15 @@ typedef struct UIState {
// Sockets
Context *ctx;
SubSocket *thermal_sock;
SubSocket *model_sock;
SubSocket *controlsstate_sock;
SubSocket *livecalibration_sock;
SubSocket *radarstate_sock;
SubSocket *plus_sock;
SubSocket *map_data_sock;
SubSocket *uilayout_sock;
Poller * poller;
int plus_state;
int active_app;
// vision state
bool vision_connected;
@@ -331,7 +326,7 @@ static void set_awake(UIState *s, bool awake) {
static void set_volume(UIState *s, int volume) {
char volume_change_cmd[64];
sprintf(volume_change_cmd, "service call audio 3 i32 3 i32 %d i32 1", volume);
sprintf(volume_change_cmd, "service call audio 3 i32 3 i32 %d i32 1 &", volume);
// 5 second timeout at 60fps
s->volume_timeout = 5 * UI_FREQ;
@@ -503,25 +498,29 @@ static void ui_init(UIState *s) {
pthread_cond_init(&s->bg_cond, NULL);
s->ctx = Context::create();
s->thermal_sock = SubSocket::create(s->ctx, "thermal");
s->model_sock = SubSocket::create(s->ctx, "model");
s->controlsstate_sock = SubSocket::create(s->ctx, "controlsState");
s->uilayout_sock = SubSocket::create(s->ctx, "uiLayoutState");
s->livecalibration_sock = SubSocket::create(s->ctx, "liveCalibration");
s->radarstate_sock = SubSocket::create(s->ctx, "radarState");
s->plus_sock = SubSocket::create(s->ctx, "plusFrame");
assert(s->model_sock != NULL);
assert(s->controlsstate_sock != NULL);
assert(s->uilayout_sock != NULL);
assert(s->livecalibration_sock != NULL);
assert(s->radarstate_sock != NULL);
s->poller = Poller::create({
s->thermal_sock,
s->model_sock,
s->controlsstate_sock,
s->uilayout_sock,
s->livecalibration_sock,
s->radarstate_sock,
s->plus_sock
s->radarstate_sock
});
#ifdef SHOW_SPEEDLIMIT
s->map_data_sock = SubSock::create(s->ctx, "liveMapData");
assert(s->map_data_sock != NULL);
s->poller.registerSocket(s->map_data_sock);
#endif
@@ -1040,10 +1039,8 @@ static void ui_draw_world(UIState *s) {
return;
}
if ((nanos_since_boot() - scene->model_ts) < 1000000000ULL) {
// Draw lane edges and vision/mpc tracks
ui_draw_vision_lanes(s);
}
// Draw lane edges and vision/mpc tracks
ui_draw_vision_lanes(s);
if (scene->lead_status) {
// Draw lead car indicator
@@ -1528,7 +1525,7 @@ static void ui_draw_blank(UIState *s) {
}
static void ui_draw(UIState *s) {
if (s->vision_connected && s->plus_state == 0) {
if (s->vision_connected && s->active_app == cereal_UiLayoutState_App_home && s->status != STATUS_STOPPED) {
ui_draw_vision(s);
} else {
ui_draw_blank(s);
@@ -1605,7 +1602,12 @@ void handle_message(UIState *s, Message * msg) {
eventp.p = capn_getp(capn_root(&ctx), 0, 1);
struct cereal_Event eventd;
cereal_read_Event(&eventd, eventp);
double t = millis_since_boot();
// Skip messages from previous run
if (nanos_since_boot() - eventd.logMonoTime > 1e9) {
return;
}
if (eventd.which == cereal_Event_controlsState) {
struct cereal_ControlsState datad;
cereal_read_ControlsState(&datad, eventd.controlsState);
@@ -1668,14 +1670,16 @@ void handle_message(UIState *s, Message * msg) {
s->alert_size = ALERTSIZE_FULL;
}
if (datad.alertStatus == cereal_ControlsState_AlertStatus_userPrompt) {
update_status(s, STATUS_WARNING);
} else if (datad.alertStatus == cereal_ControlsState_AlertStatus_critical) {
update_status(s, STATUS_ALERT);
} else if (datad.enabled) {
update_status(s, STATUS_ENGAGED);
} else {
update_status(s, STATUS_DISENGAGED);
if (s->status != STATUS_STOPPED) {
if (datad.alertStatus == cereal_ControlsState_AlertStatus_userPrompt) {
update_status(s, STATUS_WARNING);
} else if (datad.alertStatus == cereal_ControlsState_AlertStatus_critical) {
update_status(s, STATUS_ALERT);
} else if (datad.enabled) {
update_status(s, STATUS_ENGAGED);
} else {
update_status(s, STATUS_DISENGAGED);
}
}
s->scene.alert_blinkingrate = datad.alertBlinkingRate;
@@ -1717,7 +1721,6 @@ void handle_message(UIState *s, Message * msg) {
capn_to_f32(capn_get32(extrinsicl, i));
}
} else if (eventd.which == cereal_Event_model) {
s->scene.model_ts = eventd.logMonoTime;
s->scene.model = read_model(eventd.model);
s->model_changed = true;
} else if (eventd.which == cereal_Event_liveMpc) {
@@ -1738,21 +1741,10 @@ void handle_message(UIState *s, Message * msg) {
s->scene.mpc_y[i] = capn_to_f32(capn_get32(y_list, i));
}
s->livempc_or_radarstate_changed = true;
} else if (eventd.which == cereal_Event_thermal) {
struct cereal_ThermalData datad;
cereal_read_ThermalData(&datad, eventd.thermal);
if (!datad.started) {
update_status(s, STATUS_STOPPED);
} else if (s->status == STATUS_STOPPED) {
// car is started but controls doesn't have fingerprint yet
update_status(s, STATUS_DISENGAGED);
}
s->scene.started_ts = datad.startedTs;
} else if (eventd.which == cereal_Event_uiLayoutState) {
struct cereal_UiLayoutState datad;
cereal_read_UiLayoutState(&datad, eventd.uiLayoutState);
s->active_app = datad.activeApp;
s->scene.uilayout_sidebarcollapsed = datad.sidebarCollapsed;
s->scene.uilayout_mapenabled = datad.mapEnabled;
@@ -1850,20 +1842,30 @@ static void ui_update(UIState *s) {
}
zmq_pollitem_t polls[1] = {{0}};
// Wait for next rgb image from visiond
// Take an rgb image from visiond if there is one
while(true) {
assert(s->ipc_fd >= 0);
polls[0].fd = s->ipc_fd;
polls[0].events = ZMQ_POLLIN;
int ret = zmq_poll(polls, 1, 1000);
#ifdef UI_60FPS
// uses more CPU in both UI and surfaceflinger
// 16% / 21%
int ret = zmq_poll(polls, 1, 1);
#else
// 9% / 13% = a 14% savings
int ret = zmq_poll(polls, 1, 1000);
#endif
if (ret < 0) {
if (errno == EINTR) continue;
LOGW("poll failed (%d)", ret);
close(s->ipc_fd);
s->ipc_fd = -1;
s->vision_connected = false;
return;
} else if (ret == 0)
continue;
} else if (ret == 0) {
break;
}
// vision ipc event
VisionPacket rp;
err = vipc_recv(s->ipc_fd, &rp);
@@ -1910,31 +1912,21 @@ static void ui_update(UIState *s) {
}
// peek and consume all events in the zmq queue, then return.
while(true) {
bool awake = false;
auto polls = s->poller->poll(0);
if (polls.size() == 0)
return;
for (auto sock : polls){
Message * msg = sock->receive();
if (msg == NULL) continue;
if (sock != s->thermal_sock){
awake = true;
}
set_awake(s, true);
if (sock == s->plus_sock){
s->plus_state = msg->getData()[0];
} else {
handle_message(s, msg);
}
handle_message(s, msg);
delete msg;
}
if (awake){
set_awake(s, true);
}
}
}
@@ -2162,11 +2154,7 @@ int main(int argc, char* argv[]) {
const int MAX_VOLUME = LEON ? 15 : 12;
set_volume(s, MIN_VOLUME);
#ifdef DEBUG_FPS
vipc_t1 = millis_since_boot();
double t1 = millis_since_boot();
int draws = 0, old_draws = 0;
#endif //DEBUG_FPS
int draws = 0;
while (!do_exit) {
bool should_swap = false;
if (!s->vision_connected) {
@@ -2175,6 +2163,7 @@ int main(int argc, char* argv[]) {
usleep(30 * 1000);
}
pthread_mutex_lock(&s->lock);
double u1 = millis_since_boot();
// light sensor is only exposed on EONs
float clipped_brightness = (s->light_sensor*BRIGHTNESS_M) + BRIGHTNESS_B;
@@ -2189,9 +2178,10 @@ int main(int argc, char* argv[]) {
polls[0].fd = s->touch_fd;
polls[0].events = ZMQ_POLLIN;
int ret = zmq_poll(polls, 1, 0);
if (ret < 0)
if (ret < 0){
if (errno == EINTR) continue;
LOGW("poll failed (%d)", ret);
else if (ret > 0) {
} else if (ret > 0) {
// awake on any touch
int touch_x = -1, touch_y = -1;
int touched = touch_read(&touch, &touch_x, &touch_y);
@@ -2199,7 +2189,13 @@ int main(int argc, char* argv[]) {
set_awake(s, true);
}
}
if (s->status != STATUS_STOPPED) {
update_status(s, STATUS_STOPPED);
}
} else {
if (s->status == STATUS_STOPPED) {
update_status(s, STATUS_DISENGAGED);
}
// Car started, fetch a new rgb image from ipc and peek for zmq events.
ui_update(s);
if(!s->vision_connected) {
@@ -2209,27 +2205,19 @@ int main(int argc, char* argv[]) {
should_swap = true;
}
}
// manage wakefulness
if (s->awake_timeout > 0) {
s->awake_timeout--;
} else {
set_awake(s, false);
}
// Don't waste resources on drawing in case screen is off or car is not started.
if (s->awake && s->vision_connected) {
ui_draw(s);
glFinish();
should_swap = true;
#ifdef DEBUG_FPS
draws++;
double t2 = millis_since_boot();
const double interval = 30.;
if(t2 - t1 >= interval * 1000.) {
printf("ui draw fps: %.2f\n",((double)(draws - old_draws)) / interval) ;
t1 = t2;
old_draws = draws;
}
#endif
}
if (s->volume_timeout > 0) {
@@ -2252,7 +2240,9 @@ int main(int argc, char* argv[]) {
// if visiond is still running and controlsState times out, display an alert
if (s->controls_seen && s->vision_connected && strcmp(s->scene.alert_text2, "Controls Unresponsive") != 0) {
s->scene.alert_size = ALERTSIZE_FULL;
update_status(s, STATUS_ALERT);
if (s->status != STATUS_STOPPED) {
update_status(s, STATUS_ALERT);
}
snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "TAKE CONTROL IMMEDIATELY");
snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "Controls Unresponsive");
ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1, s->scene.alert_text2);
@@ -2276,6 +2266,12 @@ int main(int argc, char* argv[]) {
// the bg thread needs to be scheduled, so the main thread needs time without the lock
// safe to do this outside the lock?
if (should_swap) {
double u2 = millis_since_boot();
if (u2-u1 > 66) {
// warn on sub 15fps
LOGW("slow frame(%d) time: %.2f", draws, u2-u1);
}
draws++;
eglSwapBuffers(s->display, s->surface);
}
}