dragonpilot mod for 0.8.5-4

cereal/SConscript

@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch')
+Import('env', 'envCython', 'arch', 'zmq')
 
 import shutil
 
@@ -8,7 +8,7 @@ messaging_dir = Dir('messaging')
 
 # Build cereal
 
-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'dp.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([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
             schema_files,
@@ -40,6 +40,13 @@ messaging_objects = env.SharedObject([
 messaging_lib = env.Library('messaging', messaging_objects)
 Depends('messaging/impl_zmq.cc', services_h)
 
+# note, this rebuilds the deps shared, zmq is statically linked to make APK happy
+# TODO: get APK to load system zmq to remove the static link
+if arch == "aarch64":
+  zmq_static = FindFile("libzmq.a", "/usr/lib")
+  shared_lib_shared_lib = [zmq_static, 'm', 'stdc++', "gnustl_shared", "kj", "capnp"]
+  env.SharedLibrary('messaging_shared', messaging_objects, LIBS=shared_lib_shared_lib)
+
 env.Program('messaging/bridge', ['messaging/bridge.cc'], LIBS=[messaging_lib, 'zmq'])
 Depends('messaging/bridge.cc', services_h)
 

cereal/_SConstruct

@@ -0,0 +1,73 @@
+import os
+import platform
+import subprocess
+import sysconfig
+
+arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
+
+cereal_dir = Dir('.')
+messaging_dir = Dir('./messaging')
+
+cpppath = [
+  cereal_dir,
+  messaging_dir,
+  '/usr/lib/include',
+  '/opt/homebrew/include',
+  sysconfig.get_paths()['include'],
+]
+
+libpath = [
+  '/opt/homebrew/lib',
+]
+
+AddOption('--test',
+          action='store_true',
+          help='build test files')
+
+AddOption('--asan',
+          action='store_true',
+          help='turn on ASAN')
+
+ccflags_asan = ["-fsanitize=address", "-fno-omit-frame-pointer"] if GetOption('asan') else []
+ldflags_asan = ["-fsanitize=address"] if GetOption('asan') else []
+
+env = Environment(
+  ENV=os.environ,
+  CC='clang',
+  CXX='clang++',
+  CCFLAGS=[
+    "-g",
+    "-fPIC",
+    "-O2",
+    "-Wunused",
+    "-Werror",
+  ] + ccflags_asan,
+  LDFLAGS=ldflags_asan,
+  LINKFLAGS=ldflags_asan,
+
+  CFLAGS="-std=gnu11",
+  CXXFLAGS="-std=c++1z",
+  CPPPATH=cpppath,
+  LIBPATH=libpath,
+  CYTHONCFILESUFFIX=".cpp",
+  tools=["default", "cython"]
+)
+
+Export('env', 'arch')
+
+envCython = env.Clone(LIBS=[])
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
+if arch == "Darwin":
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+elif arch == "aarch64":
+  envCython["LINKFLAGS"] = ["-shared"]
+  envCython["LIBS"] = [os.path.basename(sysconfig.get_paths()['include'])]
+else:
+  envCython["LINKFLAGS"] = ["-pthread", "-shared"]
+
+Export('envCython')
+
+
+SConscript(['SConscript'])

cereal/car.capnp

@@ -129,6 +129,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     neosUpdateRequiredDEPRECATED @88;
     modelLagWarningDEPRECATED @93;
     startupOneplusDEPRECATED @82;
+
+    #dp
+    preLaneChangeLeftALC @105;
+    preLaneChangeRightALC @106;
+    manualSteeringRequired @107;
+    manualSteeringRequiredBlinkersOn @108;
+    leadCarMoving @109;
+
+    # timebomb assist
+    timebombWarn @110;
+    timebombBypassing @111;
+    timebombBypassed @112;
   }
 }
 
@@ -194,6 +206,10 @@ struct CarState {
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
+  # dp
+  lkMode @37 :Bool;
+  stopSteering @38 :Bool; # timebomb - stopSteering
+
   struct WheelSpeeds {
     # optional wheel speeds
     fl @0 :Float32;
@@ -246,7 +262,7 @@ struct CarState {
   }
 
   errorsDEPRECATED @0 :List(CarEvent.EventName);
-  brakeLightsDEPRECATED @19 :Bool;
+  brakeLights @19 :Bool;
 }
 
 # ******* radar state @ 20hz *******

cereal/dp.capnp

@@ -0,0 +1,57 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("dp");
+
+@0xbfa7e645486440c7;
+
+# dp.capnp: a home for deprecated structs
+
+# dp
+struct DragonConf {
+  dpThermalStarted @0 :Bool;
+  dpThermalOverheat @1 :Bool;
+  dpAtl @2 :Bool;
+  dpDashcamd @3 :Bool;
+  dpAutoShutdown @4 :Bool;
+  dpAthenad @5 :Bool;
+  dpUploader @6 :Bool;
+  dpLateralMode @7 :UInt8;
+  dpSignalOffDelay @8 :Float32;
+  dpLcMinMph @9 :UInt8;
+  dpLcAutoCont @10 :Bool;
+  dpLcAutoMinMph @11 :UInt8;
+  dpLcAutoDelay @12 :Float32;
+  dpAllowGas @13 :Bool;
+  dpFollowingProfileCtrl @14 :Bool;
+  dpFollowingProfile @15 :UInt8;
+  dpAccelProfileCtrl @16 :Bool;
+  dpAccelProfile @17 :UInt8;
+  dpGearCheck @18 :Bool;
+  dpSpeedCheck @19 :Bool;
+  dpUiDisplayMode @20 :UInt8;
+  dpUiSpeed @21 :Bool;
+  dpUiEvent @22 :Bool;
+  dpUiMaxSpeed @23 :Bool;
+  dpUiFace @24 :Bool;
+  dpUiLane @25 :Bool;
+  dpUiLead @26 :Bool;
+  dpUiDev @27 :Bool;
+  dpUiDevMini @28 :Bool;
+  dpUiBlinker @29 :Bool;
+  dpUiBrightness @30 :UInt8;
+  dpUiVolume @31 :Int8;
+  dpToyotaLdw @32 :Bool;
+  dpToyotaSng @33 :Bool;
+  dpVwTimebombAssist @34 :Bool;
+  dpIpAddr @35 :Text;
+  dpCameraOffset @36 :Int8;
+  dpPathOffset @37 :Int8;
+  dpLocale @38 :Text;
+  dpSrLearner @39 :Bool;
+  dpSrCustom @40 :Float32;
+  dpAppd @41 :Bool;
+  dpDebug @42 :Bool;
+}

cereal/log.capnp

@@ -7,6 +7,7 @@ $Java.outerClassname("Log");
 
 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
+using Dp = import "dp.capnp";
 
 @0xf3b1f17e25a4285b;
 
@@ -49,6 +50,7 @@ struct InitData {
     chffrIos @3;
     tici @4;
     pc @5;
+    jetson @6;
   }
 
   struct PandaInfo {
@@ -638,7 +640,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   decelForTurnDEPRECATED @47 :Bool;
   decelForModelDEPRECATED @54 :Bool;
   awarenessStatusDEPRECATED @26 :Float32;
-  angleSteersDEPRECATED @13 :Float32;
+  angleSteers @13 :Float32; # dp
   vCurvatureDEPRECATED @46 :Float32;
   mapValidDEPRECATED @49 :Bool;
   jerkFactorDEPRECATED @12 :Float32;
@@ -825,6 +827,9 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
   rawCurvature @24 :Float32;
   rawCurvatureRate @25 :Float32;
 
+  # dp
+  dpALCAllowed @26 :Bool;
+
   enum Desire {
     none @0;
     turnLeft @1;
@@ -1397,5 +1402,6 @@ struct Event {
     kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
     gpsLocationDEPRECATED @21 :GpsLocationData;
     uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
+    dragonConf @79 :Dp.DragonConf;
   }
 }

cereal/services.py

@@ -68,6 +68,11 @@ services = {
   "testModel": (False, 0.),
   "testLiveLocation": (False, 0.),
   "testJoystick": (False, 0.),
+
+  # dp
+  "thermal": (True, 2., 1),
+  "dragonConf": (False, 2.),
+
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                 idx, (name, vals) in enumerate(services.items())}