mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-09-30 03:13:41 +08:00
dragonpilot v2023.02.08 for EON/C2
version: dragonpilot v2023.02.08 release for EON/C2
date: 2023-02-08T05:01:31
dp-dev(priv2) beta2 commit: f770882b7f
This commit is contained in:
Dragonpilot Team
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venv/
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.env
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.clang-format
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.DS_Store
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.tags
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.ipynb_checkpoints
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.idea
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.overlay_init
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.overlay_consistent
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.sconsign.dblite
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.vscode*
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model2.png
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a.out
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.hypothesis
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*.dylib
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*.DSYM
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*.d
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*.pyc
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*.pyo
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.*.swp
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.*.swo
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.*.un~
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*.tmp
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*.o
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*.o-*
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*.os
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*.os-*
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*.so
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*.a
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*.clb
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*.class
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*.pyxbldc
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*.vcd
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config.json
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clcache
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compile_commands.json
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persist
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board/obj/
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selfdrive/boardd/boardd
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selfdrive/logcatd/logcatd
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selfdrive/mapd/default_speeds_by_region.json
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system/proclogd/proclogd
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selfdrive/ui/_ui
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selfdrive/test/longitudinal_maneuvers/out
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selfdrive/visiond/visiond
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selfdrive/sensord/_gpsd
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selfdrive/sensord/_sensord
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system/camerad/camerad
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system/camerad/test/ae_gray_test
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selfdrive/modeld/_modeld
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selfdrive/modeld/_navmodeld
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selfdrive/modeld/_dmonitoringmodeld
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/src/
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one
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openpilot
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notebooks
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xx
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yy
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hyperthneed
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panda_jungle
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provisioning
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.coverage*
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coverage.xml
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htmlcov
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pandaextra
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.mypy_cache/
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flycheck_*
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cppcheck_report.txt
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comma*.sh
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selfdrive/modeld/thneed/compile
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selfdrive/modeld/models/*.thneed
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*.bz2
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build/
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!**/.gitkeep
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poetry.toml
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selfdrive/ui/_ui_nonav
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Copyright (c) 2018, Comma.ai, Inc.
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||||
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||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
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||||
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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Table of Contents
|
||||
=======================
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||||
|
||||
* [What is openpilot?](#what-is-openpilot)
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||||
* [Running in a car](#running-on-a-dedicated-device-in-a-car)
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||||
* [Running on PC](#running-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [User Data and comma Account](#user-data-and-comma-account)
|
||||
* [Safety and Testing](#safety-and-testing)
|
||||
* [Directory Structure](#directory-structure)
|
||||
* [Licensing](#licensing)
|
||||
|
||||
---
|
||||
|
||||
What is openpilot?
|
||||
------
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||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
|
||||
<td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
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||||
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||||
Running on a dedicated device in a car
|
||||
------
|
||||
|
||||
To use openpilot in a car, you need four things
|
||||
* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
|
||||
* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
|
||||
The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
|
||||
* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
|
||||
* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
|
||||
|
||||
We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
|
||||
|
||||
Running on PC
|
||||
------
|
||||
|
||||
All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.
|
||||
|
||||
With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.
|
||||
|
||||
You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU.
|
||||
|
||||
A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness).
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
|
||||
|
||||
Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
|
||||
|
||||
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
|
||||
* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
|
||||
* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
|
||||
|
||||
Directory Structure
|
||||
------
|
||||
.
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── docs # Documentation
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── third_party # External libraries
|
||||
├── pyextra # Extra python packages
|
||||
└── system # Generic services
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── clocksd # Broadcasts current time
|
||||
├── hardware # Hardware abstraction classes
|
||||
├── logcatd # systemd journal as a service
|
||||
└── proclogd # Logs information from /proc
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images, and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── controls # Planning and controls
|
||||
├── debug # Tools to help you debug and do car ports
|
||||
├── locationd # Precise localization and vehicle parameter estimation
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── manager # Daemon that starts/stops all other daemons as needed
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── monitoring # Daemon to determine driver attention
|
||||
├── navd # Turn-by-turn navigation
|
||||
├── sensord # IMU interface code
|
||||
├── test # Unit tests, system tests, and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
---
|
||||
|
||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
+908
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Version 0.9.1 (2022-12-XX)
|
||||
========================
|
||||
* Adjust alert volume using ambient noise level
|
||||
* Removed driver monitoring timer resetting on interaction if face detected and distracted
|
||||
* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
|
||||
* Genesis GV60 2023 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson 2022-23 support
|
||||
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
|
||||
Version 0.9.0 (2022-11-21)
|
||||
========================
|
||||
* New driving model
|
||||
* Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
|
||||
* Less reliance on previous frames makes model more reactive and snappy
|
||||
* Trained in new reprojective simulator
|
||||
* Trained in 36 hours from scratch, compared to one week for previous releases
|
||||
* Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
|
||||
* Experimental driving mode
|
||||
* End-to-end longitudinal control
|
||||
* Stops for traffic lights and stop signs
|
||||
* Slows down for turns
|
||||
* openpilot defaults to chill mode, enable experimental mode in settings
|
||||
* Driver monitoring updates
|
||||
* New bigger model with added end-to-end distracted trigger
|
||||
* Reduced false positives during driver calibration
|
||||
* Self-tuning torque controller: learns parameters live for each car
|
||||
* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
|
||||
* UI updates
|
||||
* Matched speeds shown on car's dash
|
||||
* Multi-language in navigation
|
||||
* Improved update experience
|
||||
* Border turns grey while overriding steering
|
||||
* Bookmark events while driving; view them in comma connect
|
||||
* New onroad visualization for experimental mode
|
||||
* tools: new and improved cabana thanks to deanlee!
|
||||
* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
|
||||
* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
|
||||
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
|
||||
* Kia Sportage 2023 support thanks to sunnyhaibin!
|
||||
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
|
||||
* Kia Stinger 2022 support thanks to sunnyhaibin!
|
||||
|
||||
Version 0.8.16 (2022-08-26)
|
||||
========================
|
||||
* New driving model
|
||||
* Reduced turn cutting
|
||||
* Auto-detect right hand drive setting with driver monitoring model
|
||||
* Improved fan controller for comma three
|
||||
* New translations
|
||||
* Japanese thanks to cydia2020!
|
||||
* Brazilian Portuguese thanks to AlexandreSato!
|
||||
* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
|
||||
* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler!
|
||||
* GMC Sierra 1500 2020-21 support thanks to JasonJShuler!
|
||||
* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Subaru Legacy 2020-22 support thanks to martinl!
|
||||
* Subaru Outback 2020-22 support
|
||||
|
||||
Version 0.8.15 (2022-07-20)
|
||||
========================
|
||||
* New driving model
|
||||
* Path planning uses end-to-end output instead of lane lines at all times
|
||||
* Reduced ping pong
|
||||
* Improved lane centering
|
||||
* New lateral controller based on physical wheel torque model
|
||||
* Much smoother control that's consistent across the speed range
|
||||
* Effective feedforward that uses road roll
|
||||
* Simplified tuning, all car-specific parameters can be derived from data
|
||||
* Used on select Toyota and Hyundai models at first
|
||||
* Significantly improved control on TSS-P Prius
|
||||
* New driver monitoring model
|
||||
* Bigger model, covering full interior view from driver camera
|
||||
* Works with a wider variety of mounting angles
|
||||
* 3x more unique comma three training data than previous
|
||||
* Navigation improvements
|
||||
* Speed limits shown while navigating
|
||||
* Faster position fix by using raw GPS measurements
|
||||
* UI updates
|
||||
* Multilanguage support for settings and home screen
|
||||
* New font
|
||||
* Refreshed max speed design
|
||||
* More consistent camera view perspective across cars
|
||||
* Reduced power usage: device runs cooler and fan spins less
|
||||
* AGNOS 5
|
||||
* Support VSCode remote SSH target
|
||||
* Support for delta updates to reduce data usage on future OS updates
|
||||
* Chrysler ECU firmware fingerprinting thanks to realfast!
|
||||
* Honda Civic 2022 support
|
||||
* Hyundai Tucson 2021 support thanks to bluesforte!
|
||||
* Kia EV6 2022 support
|
||||
* Lexus NX Hybrid 2020 support thanks to AlexandreSato!
|
||||
* Ram 1500 2019-21 support thanks to realfast!
|
||||
|
||||
Version 0.8.14 (2022-06-01)
|
||||
========================
|
||||
* New driving model
|
||||
* Bigger model, using both of comma three's road-facing cameras
|
||||
* Better at cut-in detection and tight turns
|
||||
* New driver monitoring model
|
||||
* Tweaked network structure to improve output resolution for DSP
|
||||
* Fixed bug in quantization aware training to reduce quantizing errors
|
||||
* Resulted in 7x less MSE and no more random biases at runtime
|
||||
* Added toggle to disable disengaging on the accelerator pedal
|
||||
* comma body support
|
||||
* Audi RS3 support thanks to jyoung8607!
|
||||
* Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
|
||||
* Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
|
||||
* Toyota Alphard Hybrid 2021 support
|
||||
* Toyota Avalon Hybrid 2022 support
|
||||
* Toyota RAV4 2022 support
|
||||
* Toyota RAV4 Hybrid 2022 support
|
||||
|
||||
Version 0.8.13 (2022-02-18)
|
||||
========================
|
||||
* Improved driver monitoring
|
||||
* Re-tuned driver pose learner for relaxed driving positions
|
||||
* Added reliance on driving model to be more scene adaptive
|
||||
* Matched strictness between comma two and comma three
|
||||
* Improved performance in turns by compensating for the road bank angle
|
||||
* Improved camera focus on the comma two
|
||||
* AGNOS 4
|
||||
* ADB support
|
||||
* improved cell auto configuration
|
||||
* NEOS 19
|
||||
* package updates
|
||||
* stability improvements
|
||||
* Subaru ECU firmware fingerprinting thanks to martinl!
|
||||
* Hyundai Santa Fe Plug-in Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-5 2022 support thanks to Jafaral!
|
||||
* Subaru Impreza 2020 support thanks to martinl!
|
||||
* Toyota Avalon 2022 support thanks to sshane!
|
||||
* Toyota Prius v 2017 support thanks to CT921!
|
||||
* Volkswagen Caravelle 2020 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.12 (2021-12-15)
|
||||
========================
|
||||
* New driving model
|
||||
* Improved behavior around exits
|
||||
* Better pose accuracy at high speeds, allowing max speed of 90mph
|
||||
* Fully incorporated comma three data into all parts of training stack
|
||||
* Improved follow distance
|
||||
* Better longitudinal policy, especially in low speed traffic
|
||||
* New alert sounds
|
||||
* AGNOS 3
|
||||
* Display burn in mitigation
|
||||
* Improved audio amplifier configuration
|
||||
* System reliability improvements
|
||||
* Update Python to 3.8.10
|
||||
* Raw logs upload moved to connect.comma.ai
|
||||
* Fixed HUD alerts on newer Honda Bosch thanks to csouers!
|
||||
* Audi Q3 2020-21 support thanks to jyoung8607!
|
||||
* Lexus RC 2020 support thanks to ErichMoraga!
|
||||
|
||||
Version 0.8.11 (2021-11-29)
|
||||
========================
|
||||
* Support for CAN FD on the red panda
|
||||
* Support for an external panda on the comma three
|
||||
* Navigation: Show more detailed instructions when approaching maneuver
|
||||
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
|
||||
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
|
||||
* Cadillac Escalade ESV 2016 support thanks to Gibby!
|
||||
* Genesis G70 2020 support thanks to tecandrew!
|
||||
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
|
||||
* Mazda CX-9 2021 support thanks to Jacar!
|
||||
* Volkswagen Polo 2020 support thanks to jyoung8607!
|
||||
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.10 (2021-11-01)
|
||||
========================
|
||||
* New driving model
|
||||
* Trained on one million minutes!!!
|
||||
* Fixed lead training making lead predictions significantly more accurate
|
||||
* Fixed several localizer dataset bugs and loss function bugs, overall improved accuracy
|
||||
* New driver monitoring model
|
||||
* Trained on latest data from both comma two and comma three
|
||||
* Increased model field of view by 40% on comma three
|
||||
* Improved model stability on masked users
|
||||
* Improved pose prediction with reworked ground-truth stack
|
||||
* Lateral and longitudinal planning MPCs now in ACADOS
|
||||
* Combined longitudinal MPCs
|
||||
* All longitudinal planning now happens in a single MPC system
|
||||
* Fixed instability in MPC problem to prevent sporadic CPU usage
|
||||
* AGNOS 2: minor stability improvements and builder repo open sourced
|
||||
* tools: new and improved replay thanks to deanlee!
|
||||
* Moved community-supported cars outside of the Community Features toggle
|
||||
* Improved FW fingerprinting reliability for Hyundai/Kia/Genesis
|
||||
* Added prerequisites for longitudinal control on Hyundai/Kia/Genesis and Honda Bosch
|
||||
* Audi S3 2015 support thanks to jyoung8607!
|
||||
* Honda Freed 2020 support thanks to belm0!
|
||||
* Hyundai Ioniq Hybrid 2020-2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Santa Fe 2022 support thanks to sunnyhaibin!
|
||||
* Kia K5 2021 support thanks to sunnyhaibin!
|
||||
* Škoda Kamiq 2021 support thanks to jyoung8607!
|
||||
* Škoda Karoq 2019 support thanks to jyoung8607!
|
||||
* Volkswagen Arteon 2021 support thanks to jyoung8607!
|
||||
* Volkswagen California 2021 support thanks to jyoung8607!
|
||||
* Volkswagen Taos 2022 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.9 (2021-09-14)
|
||||
========================
|
||||
* Improved fan control on comma three
|
||||
* AGNOS 1.5: improved stability
|
||||
* Honda e 2020 support
|
||||
|
||||
Version 0.8.8 (2021-08-27)
|
||||
========================
|
||||
* New driving model with improved laneless performance
|
||||
* Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
|
||||
* Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
|
||||
* All new desire ground-truthing stack makes the model better at lane changes
|
||||
* New driver monitoring model: improved performance on comma three
|
||||
* NEOS 18 for comma two: update packages
|
||||
* AGNOS 1.3 for comma three: fix display init at high temperatures
|
||||
* Improved auto-exposure on comma three
|
||||
* Improved longitudinal control on Honda Nidec cars
|
||||
* Hyundai Kona Hybrid 2020 support thanks to haram-KONA!
|
||||
* Hyundai Sonata Hybrid 2021 support thanks to Matt-Wash-Burn!
|
||||
* Kia Niro Hybrid 2021 support thanks to tetious!
|
||||
|
||||
Version 0.8.7 (2021-07-31)
|
||||
========================
|
||||
* comma three support!
|
||||
* Navigation alpha for the comma three!
|
||||
* Volkswagen T-Cross 2021 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.6 (2021-07-21)
|
||||
========================
|
||||
* Revamp lateral and longitudinal planners
|
||||
* Refactor planner output API to be more readable and verbose
|
||||
* Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
|
||||
* Use MPC for longitudinal planning when no lead car is present, makes accel and decel smoother
|
||||
* Remove "CHECK DRIVER FACE VISIBILITY" warning
|
||||
* Fixed cruise fault on some TSS2.5 Camrys and international Toyotas
|
||||
* Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
|
||||
* Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
|
||||
* Kia Niro Hybrid 2019 support thanks to jyoung8607!
|
||||
* Škoda Octavia RS 2016 support thanks to jyoung8607!
|
||||
* Toyota Alphard 2020 support thanks to belm0!
|
||||
* Volkswagen Golf SportWagen 2015 support thanks to jona96!
|
||||
* Volkswagen Touran 2017 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.5 (2021-06-11)
|
||||
========================
|
||||
* NEOS update: improved reliability and stability with better voltage regulator configuration
|
||||
* Smart model-based Forward Collision Warning
|
||||
* CAN-based fingerprinting moved behind community features toggle
|
||||
* Improved longitudinal control on Toyotas with a comma pedal
|
||||
* Improved auto-brightness using road-facing camera
|
||||
* Added "Software" settings page with updater controls
|
||||
* Audi Q2 2018 support thanks to jyoung8607!
|
||||
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
|
||||
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
|
||||
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
|
||||
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
|
||||
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.4 (2021-05-17)
|
||||
========================
|
||||
* Delay controls start until system is ready
|
||||
* Fuzzy car identification, enabled with Community Features toggle
|
||||
* Localizer optimized for increased precision and less CPU usage
|
||||
* Re-tuned lateral control to be more aggressive when model is confident
|
||||
* Toyota Mirai 2021 support
|
||||
* Lexus NX 300 2020 support thanks to goesreallyfast!
|
||||
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.3 (2021-04-01)
|
||||
========================
|
||||
* New model
|
||||
* Trained on new diverse dataset from 2000+ users from 30+ countries
|
||||
* Trained with improved segnet from the comma-pencil community project
|
||||
* 🥬 Dramatically improved end-to-end lateral performance 🥬
|
||||
* Toggle added to disable the use of lanelines
|
||||
* NEOS update: update packages and support for new UI
|
||||
* New offroad UI based on Qt
|
||||
* Default SSH key only used for setup
|
||||
* Kia Ceed 2019 support thanks to ZanZaD13!
|
||||
* Kia Seltos 2021 support thanks to speedking456!
|
||||
* Added support for many Volkswagen and Škoda models thanks to jyoung8607!
|
||||
|
||||
Version 0.8.2 (2021-02-26)
|
||||
========================
|
||||
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
|
||||
* Use model heading prediction for smoother lateral control
|
||||
* Smarter actuator delay compensation
|
||||
* Improve qcamera resolution for improved video in explorer and connect
|
||||
* Adjust maximum engagement speed to better fit the model's training distribution
|
||||
* New driver monitoring model trained with 3x more diverse data
|
||||
* Improved face detection with masks
|
||||
* More predictable DM alerts when visibility is bad
|
||||
* Rewritten video streaming between openpilot processes
|
||||
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
|
||||
* Audi A3 2015 and 2017 support thanks to keeleysam!
|
||||
* Nissan Altima 2020 support thanks to avolmensky!
|
||||
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
|
||||
* Toyota Camry Hybrid 2021 support thanks to alancyau!
|
||||
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
* Improved vehicle model estimation using high precision localizer
|
||||
* Improved thermal management on comma two
|
||||
* Improved autofocus for road-facing camera
|
||||
* Improved noise performance for driver-facing camera
|
||||
* Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
|
||||
* Fix GM ignition detection
|
||||
* Code cleanup and smaller release sizes
|
||||
* Hyundai Sonata 2020 promoted to officially supported car
|
||||
* Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
|
||||
* Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
* New driving model: improved lane changes and lead car detection
|
||||
* Improved driver monitoring model: improve eye detection
|
||||
* Improved calibration stability
|
||||
* Improved lateral control on some 2019 and 2020 Toyota Prius
|
||||
* Improved lateral control on VW Golf: 20% more steering torque
|
||||
* Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
|
||||
* Support for Honda Insight thanks to theantihero!
|
||||
* Code cleanup in car abstraction layers and ui
|
||||
|
||||
Version 0.7.3 (2020-02-21)
|
||||
========================
|
||||
* Support for 2020 Highlander thanks to che220!
|
||||
* Support for 2018 Lexus NX 300h thanks to kengggg!
|
||||
* Speed up ECU firmware query
|
||||
* Fix bug where manager would sometimes hang after shutting down the car
|
||||
|
||||
Version 0.7.2 (2020-02-07)
|
||||
========================
|
||||
* ECU firmware version based fingerprinting for Honda & Toyota
|
||||
* New driving model: improved path prediction during turns and lane changes and better lead speed tracking
|
||||
* Improve driver monitoring under extreme lighting and add low accuracy alert
|
||||
* Support for 2019 Rav4 Hybrid thanks to illumiN8i!
|
||||
* Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
|
||||
* Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
|
||||
|
||||
Version 0.7.1 (2020-01-20)
|
||||
========================
|
||||
* comma two support!
|
||||
* Lane Change Assist above 45 mph!
|
||||
* Replace zmq with custom messaging library, msgq!
|
||||
* Supercombo model: calibration and driving models are combined for better lead estimate
|
||||
* More robust updater thanks to jyoung8607! Requires NEOS update
|
||||
* Improve low speed ACC tuning
|
||||
|
||||
Version 0.7 (2019-12-13)
|
||||
========================
|
||||
* Move to SCons build system!
|
||||
* Add Lane Departure Warning (LDW) for all supported vehicles!
|
||||
* NEOS update: increase wifi speed thanks to jyoung8607!
|
||||
* Adaptive driver monitoring based on scene
|
||||
* New driving model trained end-to-end: improve lane lines and lead detection
|
||||
* Smarter torque limit alerts for all cars
|
||||
* Improve GM longitudinal control: proper computations for 15Hz radar
|
||||
* Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
|
||||
* Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
|
||||
* Refactor Panda code towards ISO26262 and SIL2 compliance
|
||||
* Forward stock FCW for Honda Nidec
|
||||
* Volkswagen port now standard: comma Harness intercepts stock camera
|
||||
|
||||
Version 0.6.6 (2019-11-05)
|
||||
========================
|
||||
* Volkswagen support thanks to jyoung8607!
|
||||
* Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
|
||||
* Lexus ES with TSS 2.0 support thanks to energee!
|
||||
* Fix GM ignition detection and lock safety mode not required anymore
|
||||
* Log panda firmware and dongle ID thanks to martinl!
|
||||
* New driving model: improve path prediction and lead detection
|
||||
* New driver monitoring model, 4x smaller and running on DSP
|
||||
* Display an alert and don't start openpilot if panda has wrong firmware
|
||||
* Fix bug preventing EON from terminating processes after a drive
|
||||
* Remove support for Toyota giraffe without the 120Ohm resistor
|
||||
|
||||
Version 0.6.5 (2019-10-07)
|
||||
========================
|
||||
* NEOS update: upgrade to Python3 and new installer!
|
||||
* comma Harness support!
|
||||
* New driving model: improve path prediction
|
||||
* New driver monitoring model: more accurate face and eye detection
|
||||
* Redesign offroad screen to display updates and alerts
|
||||
* Increase maximum allowed acceleration
|
||||
* Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
|
||||
* Lexus CT Hybrid support thanks to thomaspich!
|
||||
* Louder chime for critical alerts
|
||||
* Add toggle to switch to dashcam mode
|
||||
* Fix "invalid vehicle params" error on DSU-less Toyota
|
||||
|
||||
Version 0.6.4 (2019-09-08)
|
||||
========================
|
||||
* Forward stock AEB for Honda Nidec
|
||||
* Improve lane centering on banked roads
|
||||
* Always-on forward collision warning
|
||||
* Always-on driver monitoring, except for right hand drive countries
|
||||
* Driver monitoring learns the user's normal driving position
|
||||
* Honda Fit support thanks to energee!
|
||||
* Lexus IS support
|
||||
|
||||
Version 0.6.3 (2019-08-12)
|
||||
========================
|
||||
* Alert sounds from EON: requires NEOS update
|
||||
* Improve driver monitoring: eye tracking and improved awareness logic
|
||||
* Improve path prediction with new driving model
|
||||
* Improve lane positioning with wide lanes and exits
|
||||
* Improve lateral control on RAV4
|
||||
* Slow down for turns using model
|
||||
* Open sourced regression test to verify outputs against reference logs
|
||||
* Open sourced regression test to sanity check all car models
|
||||
|
||||
Version 0.6.2 (2019-07-29)
|
||||
========================
|
||||
* New driving model!
|
||||
* Improve lane tracking with double lines
|
||||
* Strongly improve stationary vehicle detection
|
||||
* Strongly reduce cases of braking due to false leads
|
||||
* Better lead tracking around turns
|
||||
* Improve cut-in prediction by using neural network
|
||||
* Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
|
||||
* Fix unintended openpilot disengagements on Jeep thanks to adhintz!
|
||||
* Fix delayed transition to offroad when car is turned off
|
||||
|
||||
Version 0.6.1 (2019-07-21)
|
||||
========================
|
||||
* Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
|
||||
* Panda code Misra-c2012 compliance, tested against cppcheck coverage
|
||||
* Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
|
||||
* Toyota Sienna support thanks to wocsor!
|
||||
|
||||
Version 0.6 (2019-07-01)
|
||||
========================
|
||||
* New model, with double the pixels and ten times the temporal context!
|
||||
* Car should not take exits when in the right lane
|
||||
* openpilot uses only ~65% of the CPU (down from 75%)
|
||||
* Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
|
||||
* loggerd and sensord are open source, every line of openpilot is now open
|
||||
* Panda safety code is MISRA compliant and ships with a signed version on release2
|
||||
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
|
||||
* Lexus ES Hybrid support thanks to wocsor!
|
||||
* Improve tuning for supported Toyota with TSS 2.0
|
||||
* Various other stability improvements
|
||||
|
||||
Version 0.5.13 (2019-05-31)
|
||||
==========================
|
||||
* Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
|
||||
* Reduce EON power consumption by 40%, down to 1100mW, when car is off
|
||||
* Reduce CPU utilization by 20% and improve stability
|
||||
* Temporarily remove mapd functionalities to improve stability
|
||||
* Add openpilot record-only mode for unsupported cars
|
||||
* Synchronize controlsd to boardd to reduce latency
|
||||
* Remove panda support for Subaru giraffe
|
||||
|
||||
Version 0.5.12 (2019-05-16)
|
||||
==========================
|
||||
* Improve lateral control for the Prius and Prius Prime
|
||||
* Compress logs before writing to disk
|
||||
* Remove old driving data when storage reaches 90% full
|
||||
* Fix small offset in following distance
|
||||
* Various small CPU optimizations
|
||||
* Improve offroad power consumption: require NEOS Update
|
||||
* Add default speed limits for Estonia thanks to martinl!
|
||||
* Subaru Crosstrek support thanks to martinl!
|
||||
* Toyota Avalon support thanks to njbrown09!
|
||||
* Toyota Rav4 with TSS 2.0 support thanks to wocsor!
|
||||
* Toyota Corolla with TSS 2.0 support thanks to wocsor!
|
||||
|
||||
Version 0.5.11 (2019-04-17)
|
||||
========================
|
||||
* Add support for Subaru
|
||||
* Reduce panda power consumption by 60% when car is off
|
||||
* Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
|
||||
* Fix bug in controls with new angle-offset learner in MPC
|
||||
* Reduce cpu consumption of ubloxd by rewriting it in C++
|
||||
* Improve driver monitoring model and face detection
|
||||
* Improve performance of visiond and ui
|
||||
* Honda Passport 2019 support
|
||||
* Lexus RX Hybrid 2019 support thanks to schomems!
|
||||
* Improve road selection heuristic in mapd
|
||||
* Add Lane Departure Warning to dashboard for Toyota thanks to arne182
|
||||
|
||||
Version 0.5.10 (2019-03-19)
|
||||
========================
|
||||
* Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
|
||||
* Improve longitudinal control at low speed when lead vehicle harshly decelerates
|
||||
* Fix panda bug going unexpectedly in DCP mode when EON is connected
|
||||
* Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
|
||||
* New Driver Monitoring Model
|
||||
* Support QR codes for login using comma connect
|
||||
* Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
|
||||
Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
|
||||
* Additional speed limit rules for Germany thanks to arne182
|
||||
* Allow negative speed limit offsets
|
||||
|
||||
Version 0.5.9 (2019-02-10)
|
||||
========================
|
||||
* Improve calibration using a dedicated neural network
|
||||
* Abstract planner in its own process to remove lags in controls process
|
||||
* Improve speed limits with country/region defaults by road type
|
||||
* Reduce mapd data usage with gzip thanks to eFiniLan
|
||||
* Zip log files in the background to reduce disk usage
|
||||
* Kia Optima support thanks to emmertex!
|
||||
* Buick Regal 2018 support thanks to HOYS!
|
||||
* Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
|
||||
* Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
|
||||
|
||||
Version 0.5.8 (2019-01-17)
|
||||
========================
|
||||
* Open sourced visiond
|
||||
* Auto-slowdown for upcoming turns
|
||||
* Chrysler/Jeep/Fiat support thanks to adhintz!
|
||||
* Honda Civic 2019 support thanks to csouers!
|
||||
* Improve use of car display in Toyota thanks to arne182!
|
||||
* No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
|
||||
* EON stops charging when 12V battery drops below 11.8V
|
||||
|
||||
Version 0.5.7 (2018-12-06)
|
||||
========================
|
||||
* Speed limit from OpenStreetMap added to UI
|
||||
* Highlight speed limit when speed exceeds road speed limit plus a delta
|
||||
* Option to limit openpilot max speed to road speed limit plus a delta
|
||||
* Cadillac ATS support thanks to vntarasov!
|
||||
* GMC Acadia support thanks to CryptoKylan!
|
||||
* Decrease GPU power consumption
|
||||
* NEOSv8 autoupdate
|
||||
|
||||
Version 0.5.6 (2018-11-16)
|
||||
========================
|
||||
* Refresh settings layout and add feature descriptions
|
||||
* In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
|
||||
* In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
|
||||
* Improve camera calibration stability
|
||||
* More tuning to Honda positive accelerations
|
||||
* Reduce brake pump use on Hondas
|
||||
* Chevrolet Malibu support thanks to tylergets!
|
||||
* Holden Astra support thanks to AlexHill!
|
||||
|
||||
Version 0.5.5 (2018-10-20)
|
||||
========================
|
||||
* Increase allowed Honda positive accelerations
|
||||
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
|
||||
* Fix gear reading bug in Hyundai Elantra thanks to emmertex!
|
||||
|
||||
Version 0.5.4 (2018-09-25)
|
||||
========================
|
||||
* New Driving Model
|
||||
* New Driver Monitoring Model
|
||||
* Improve longitudinal mpc in mid-low speed braking
|
||||
* Honda Accord hybrid support thanks to energee!
|
||||
* Ship mpc binaries and sensibly reduce build time
|
||||
* Calibration more stable
|
||||
* More Hyundai and Kia cars supported thanks to emmertex!
|
||||
* Various GM Volt improvements thanks to vntarasov!
|
||||
|
||||
Version 0.5.3 (2018-09-03)
|
||||
========================
|
||||
* Hyundai Santa Fe support!
|
||||
* Honda Pilot 2019 support thanks to energee!
|
||||
* Toyota Highlander support thanks to daehahn!
|
||||
* Improve steering tuning for Honda Odyssey
|
||||
|
||||
Version 0.5.2 (2018-08-16)
|
||||
========================
|
||||
* New calibration: more accurate, a lot faster, open source!
|
||||
* Enable orbd
|
||||
* Add little endian support to CAN packer
|
||||
* Fix fingerprint for Honda Accord 1.5T
|
||||
* Improve driver monitoring model
|
||||
|
||||
Version 0.5.1 (2018-08-01)
|
||||
========================
|
||||
* Fix radar error on Civic sedan 2018
|
||||
* Improve thermal management logic
|
||||
* Alpha Toyota C-HR and Camry support!
|
||||
* Auto-switch Driver Monitoring to 3 min counter when inaccurate
|
||||
|
||||
Version 0.5 (2018-07-11)
|
||||
========================
|
||||
* Driver Monitoring (beta) option in settings!
|
||||
* Make visiond, loggerd and UI use less resources
|
||||
* 60 FPS UI
|
||||
* Better car parameters for most cars
|
||||
* New sidebar with stats
|
||||
* Remove Waze and Spotify to free up system resources
|
||||
* Remove rear view mirror option
|
||||
* Calibration 3x faster
|
||||
|
||||
Version 0.4.7.2 (2018-06-25)
|
||||
==========================
|
||||
* Fix loggerd lag issue
|
||||
* No longer prompt for updates
|
||||
* Mitigate right lane hugging for properly mounted EON (procedure on wiki)
|
||||
|
||||
Version 0.4.7.1 (2018-06-18)
|
||||
==========================
|
||||
* Fix Acura ILX steer faults
|
||||
* Fix bug in mock car
|
||||
|
||||
Version 0.4.7 (2018-06-15)
|
||||
==========================
|
||||
* New model!
|
||||
* GM Volt (and CT6 lateral) support!
|
||||
* Honda Bosch lateral support!
|
||||
* Improve actuator modeling to reduce lateral wobble
|
||||
* Minor refactor of car abstraction layer
|
||||
* Hack around orbd startup issue
|
||||
|
||||
Version 0.4.6 (2018-05-18)
|
||||
==========================
|
||||
* NEOSv6 required! Will autoupdate
|
||||
* Stability improvements
|
||||
* Fix all memory leaks
|
||||
* Update C++ compiler to clang6
|
||||
* Improve front camera exposure
|
||||
|
||||
Version 0.4.5 (2018-04-27)
|
||||
==========================
|
||||
* Release notes added to the update popup
|
||||
* Improve auto shut-off logic to disallow empty battery
|
||||
* Added onboarding instructions
|
||||
* Include orbd, the first piece of new calibration algorithm
|
||||
* Show remaining upload data instead of file numbers
|
||||
* Fix UI bugs
|
||||
* Fix memory leaks
|
||||
|
||||
Version 0.4.4 (2018-04-13)
|
||||
==========================
|
||||
* EON are flipped! Flip your EON's mount!
|
||||
* Alpha Honda Ridgeline support thanks to energee!
|
||||
* Support optional front camera recording
|
||||
* Upload over cellular toggle now applies to all files, not just video
|
||||
* Increase acceleration when closing lead gap
|
||||
* User now prompted for future updates
|
||||
* NEO no longer supported :(
|
||||
|
||||
Version 0.4.3.2 (2018-03-29)
|
||||
============================
|
||||
* Improve autofocus
|
||||
* Improve driving when only one lane line is detected
|
||||
* Added fingerprint for Toyota Corolla LE
|
||||
* Fixed Toyota Corolla steer error
|
||||
* Full-screen driving UI
|
||||
* Improved path drawing
|
||||
|
||||
Version 0.4.3.1 (2018-03-19)
|
||||
============================
|
||||
* Improve autofocus
|
||||
* Add check for MPC solution error
|
||||
* Make first distracted warning visual only
|
||||
|
||||
Version 0.4.3 (2018-03-13)
|
||||
==========================
|
||||
* Add HDR and autofocus
|
||||
* Update UI aesthetic
|
||||
* Grey panda works in Waze
|
||||
* Add alpha support for 2017 Honda Pilot
|
||||
* Slight increase in acceleration response from stop
|
||||
* Switch CAN sending to use CANPacker
|
||||
* Fix pulsing acceleration regression on Honda
|
||||
* Fix openpilot bugs when stock system is in use
|
||||
* Change starting logic for chffrplus to use battery voltage
|
||||
|
||||
Version 0.4.2 (2018-02-05)
|
||||
==========================
|
||||
* Add alpha support for 2017 Lexus RX Hybrid
|
||||
* Add alpha support for 2018 ACURA RDX
|
||||
* Updated fingerprint to include Toyota Rav4 SE and Prius Prime
|
||||
* Bugfixes for Acura ILX and Honda Odyssey
|
||||
|
||||
Version 0.4.1 (2018-01-30)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota Corolla
|
||||
* Add alpha support for 2018 Honda Odyssey with Honda Sensing
|
||||
* Add alpha support for Grey Panda
|
||||
* Refactored car abstraction layer to make car ports easier
|
||||
* Increased steering torque limit on Honda CR-V by 30%
|
||||
|
||||
Version 0.4.0.2 (2018-01-18)
|
||||
==========================
|
||||
* Add focus adjustment slider
|
||||
* Minor bugfixes
|
||||
|
||||
Version 0.4.0.1 (2017-12-21)
|
||||
==========================
|
||||
* New UI to match chffrplus
|
||||
* Improved lateral control tuning to fix oscillations on Civic
|
||||
* Add alpha support for 2017 Toyota Rav4 Hybrid
|
||||
* Reduced CPU usage
|
||||
* Removed unnecessary utilization of fan at max speed
|
||||
* Minor bug fixes
|
||||
|
||||
Version 0.3.9 (2017-11-21)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota Prius
|
||||
* Improved longitudinal control using model predictive control
|
||||
* Enable Forward Collision Warning
|
||||
* Acura ILX now maintains openpilot engaged at standstill when brakes are applied
|
||||
|
||||
Version 0.3.8.2 (2017-10-30)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota RAV4
|
||||
* Smoother lateral control
|
||||
* Stay silent if stock system is connected through giraffe
|
||||
* Minor bug fixes
|
||||
|
||||
Version 0.3.7 (2017-09-30)
|
||||
==========================
|
||||
* Improved lateral control using model predictive control
|
||||
* Improved lane centering
|
||||
* Improved GPS
|
||||
* Reduced tendency of path deviation near right side exits
|
||||
* Enable engagement while the accelerator pedal is pressed
|
||||
* Enable engagement while the brake pedal is pressed, when stationary and with lead vehicle within 5m
|
||||
* Disable engagement when park brake or brake hold are active
|
||||
* Fixed sporadic longitudinal pulsing in Civic
|
||||
* Cleanups to vehicle interface
|
||||
|
||||
Version 0.3.6.1 (2017-08-15)
|
||||
============================
|
||||
* Mitigate low speed steering oscillations on some vehicles
|
||||
* Include board steering check for CR-V
|
||||
|
||||
Version 0.3.6 (2017-08-08)
|
||||
==========================
|
||||
* Fix alpha CR-V support
|
||||
* Improved GPS
|
||||
* Fix display of target speed not always matching HUD
|
||||
* Increased acceleration after stop
|
||||
* Mitigated some vehicles driving too close to the right line
|
||||
|
||||
Version 0.3.5 (2017-07-30)
|
||||
==========================
|
||||
* Fix bug where new devices would not begin calibration
|
||||
* Minor robustness improvements
|
||||
|
||||
Version 0.3.4 (2017-07-28)
|
||||
==========================
|
||||
* Improved model trained on more data
|
||||
* Much improved controls tuning
|
||||
* Performance improvements
|
||||
* Bugfixes and improvements to calibration
|
||||
* Driving log can play back video
|
||||
* Acura only: system now stays engaged below 25mph as long as brakes are applied
|
||||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
@@ -0,0 +1,21 @@
|
||||
gen
|
||||
node_modules
|
||||
package-lock.json
|
||||
*.tmp
|
||||
*.pyc
|
||||
__pycache__
|
||||
.*.swp
|
||||
.*.swo
|
||||
*.os
|
||||
*.o
|
||||
*.a
|
||||
|
||||
test_runner
|
||||
|
||||
libmessaging.*
|
||||
libmessaging_shared.*
|
||||
services.h
|
||||
.sconsign.dblite
|
||||
libcereal_shared.*
|
||||
.mypy_cache/
|
||||
catch2/
|
||||
@@ -0,0 +1,56 @@
|
||||
FROM ubuntu:20.04
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
autoconf \
|
||||
build-essential \
|
||||
ca-certificates \
|
||||
capnproto \
|
||||
clang \
|
||||
cppcheck \
|
||||
curl \
|
||||
git \
|
||||
libbz2-dev \
|
||||
libcapnp-dev \
|
||||
libffi-dev \
|
||||
liblzma-dev \
|
||||
libncurses5-dev \
|
||||
libncursesw5-dev \
|
||||
libreadline-dev \
|
||||
libsqlite3-dev \
|
||||
libssl-dev \
|
||||
libtool \
|
||||
libzmq3-dev \
|
||||
llvm \
|
||||
make \
|
||||
ocl-icd-opencl-dev \
|
||||
opencl-headers \
|
||||
python-openssl \
|
||||
tk-dev \
|
||||
wget \
|
||||
xz-utils \
|
||||
zlib1g-dev \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
RUN pyenv install 3.8.10 && \
|
||||
pyenv global 3.8.10 && \
|
||||
pyenv rehash && \
|
||||
pip3 install --no-cache-dir pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 pre-commit==2.15.0 pylint==2.5.2 parameterized==0.7.4 coverage==5.1 numpy==1.21.1
|
||||
|
||||
WORKDIR /project/cereal/messaging
|
||||
RUN git clone https://github.com/catchorg/Catch2.git && \
|
||||
cd Catch2 && \
|
||||
git checkout 229cc4823c8cbe67366da8179efc6089dd3893e9 && \
|
||||
mv single_include/catch2 ../catch2 && \
|
||||
cd .. \
|
||||
rm -rf Catch2
|
||||
|
||||
WORKDIR /project/cereal
|
||||
|
||||
ENV PYTHONPATH=/project
|
||||
|
||||
COPY . .
|
||||
RUN rm -rf .git && \
|
||||
scons -c && scons -j$(nproc)
|
||||
@@ -0,0 +1,7 @@
|
||||
Copyright (c) 2020, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
@@ -0,0 +1,55 @@
|
||||
What is cereal? [](https://github.com/commaai/cereal/actions) [](https://codecov.io/gh/commaai/cereal)
|
||||
----
|
||||
|
||||
cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.
|
||||
|
||||
Imagine this use case:
|
||||
* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet
|
||||
* A calibration process subscribes to the `sensorEvents` packet to use the IMU
|
||||
* A localization process subscribes to the `sensorEvents` packet to use the IMU also
|
||||
|
||||
|
||||
Messaging Spec
|
||||
----
|
||||
|
||||
You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called Event.
|
||||
|
||||
All Events have a `logMonoTime` and a `valid`. Then a big union defines the packet type.
|
||||
|
||||
|
||||
Message definition Best Practices
|
||||
----
|
||||
|
||||
- **All fields must describe quantities in SI units**, unless otherwise specified in the field name.
|
||||
|
||||
- In the context of the message they are in, field names should be completely unambiguous.
|
||||
|
||||
- All values should be easy to plot and be human-readable with minimal parsing.
|
||||
|
||||
|
||||
|
||||
Pub Sub Backends
|
||||
----
|
||||
|
||||
cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called msgq, a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel.
|
||||
|
||||
Example
|
||||
---
|
||||
```python
|
||||
import cereal.messaging as messaging
|
||||
|
||||
# in subscriber
|
||||
sm = messaging.SubMaster(['sensorEvents'])
|
||||
while 1:
|
||||
sm.update()
|
||||
print(sm['sensorEvents'])
|
||||
|
||||
```
|
||||
|
||||
```python
|
||||
# in publisher
|
||||
pm = messaging.PubMaster(['sensorEvents'])
|
||||
dat = messaging.new_message('sensorEvents', size=1)
|
||||
dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
|
||||
pm.send('sensorEvents', dat)
|
||||
```
|
||||
@@ -0,0 +1,9 @@
|
||||
# pylint: skip-file
|
||||
import os
|
||||
import capnp
|
||||
|
||||
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
capnp.remove_import_hook()
|
||||
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
@@ -0,0 +1,691 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTempUnavailable @9;
|
||||
reverseGear @10;
|
||||
buttonCancel @11;
|
||||
buttonEnable @12;
|
||||
pedalPressed @13; # exits active state
|
||||
preEnableStandstill @73; # added during pre-enable state with brake
|
||||
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
|
||||
steerOverride @114;
|
||||
cruiseDisabled @14;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationIncomplete @20;
|
||||
calibrationInvalid @21;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
radarFault @26;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
plannerError @32;
|
||||
joystickDebug @34;
|
||||
steerTempUnavailableSilent @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
lowBattery @48;
|
||||
vehicleModelInvalid @50;
|
||||
accFaulted @51;
|
||||
accFaultedTemp @115;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
commIssueAvgFreq @109;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
soundsUnavailable @56;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
stockFcw @74;
|
||||
startup @75;
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupMaster @78;
|
||||
startupNoFw @104;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
cameraFrameRate @110;
|
||||
gpsMalfunction @94;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
controlsInitializing @98;
|
||||
usbError @99;
|
||||
roadCameraError @100;
|
||||
driverCameraError @101;
|
||||
wideRoadCameraError @102;
|
||||
localizerMalfunction @103;
|
||||
highCpuUsage @105;
|
||||
cruiseMismatch @106;
|
||||
lkasDisabled @107;
|
||||
canBusMissing @111;
|
||||
controlsdLagging @112;
|
||||
resumeBlocked @113;
|
||||
|
||||
#dp
|
||||
speedLimitActive @116;
|
||||
speedLimitValueChange @117;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
communityFeatureDisallowedDEPRECATED @62;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
startupFuzzyFingerprintDEPRECATED @97;
|
||||
noTargetDEPRECATED @25;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* main car state @ 100hz *******
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# CAN health
|
||||
canValid @26 :Bool; # invalid counter/checksums
|
||||
canTimeout @40 :Bool; # CAN bus dropped out
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of acceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
|
||||
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
|
||||
|
||||
yawRate @22 :Float32; # best estimate of yaw rate
|
||||
standstill @18 :Bool;
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user pedal only
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
regenBraking @45 :Bool; # this is user pedal only
|
||||
parkingBrake @39 :Bool;
|
||||
brakeHoldActive @38 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steerFaultTemporary @35 :Bool; # temporary EPS fault
|
||||
steerFaultPermanent @36 :Bool; # permanent EPS fault
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
accFaulted @42 :Bool;
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
# gear
|
||||
gearShifter @14 :GearShifter;
|
||||
|
||||
# button presses
|
||||
buttonEvents @11 :List(ButtonEvent);
|
||||
leftBlinker @20 :Bool;
|
||||
rightBlinker @21 :Bool;
|
||||
genericToggle @23 :Bool;
|
||||
|
||||
# lock info
|
||||
doorOpen @24 :Bool;
|
||||
seatbeltUnlatched @25 :Bool;
|
||||
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
# blindspot sensors
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
|
||||
charging @43 :Bool;
|
||||
|
||||
# dp
|
||||
cruiseActualEnabled @46 :Bool;
|
||||
engineRPM @47 :Float32;
|
||||
distanceLines @48:UInt8;
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
fr @1 :Float32;
|
||||
rl @2 :Float32;
|
||||
rr @3 :Float32;
|
||||
}
|
||||
|
||||
struct CruiseState {
|
||||
enabled @0 :Bool;
|
||||
speed @1 :Float32;
|
||||
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
speedLimit @7 :Float32;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
unknown @0;
|
||||
park @1;
|
||||
drive @2;
|
||||
neutral @3;
|
||||
reverse @4;
|
||||
sport @5;
|
||||
low @6;
|
||||
brake @7;
|
||||
eco @8;
|
||||
manumatic @9;
|
||||
}
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0 :Bool;
|
||||
type @1 :Type;
|
||||
|
||||
enum Type {
|
||||
unknown @0;
|
||||
leftBlinker @1;
|
||||
rightBlinker @2;
|
||||
accelCruise @3;
|
||||
decelCruise @4;
|
||||
cancel @5;
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
setCruise @9;
|
||||
resumeCruise @10;
|
||||
gapAdjustCruise @11;
|
||||
}
|
||||
}
|
||||
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
brakeLightsDEPRECATED @19 :Bool;
|
||||
steeringRateLimitedDEPRECATED @29 :Bool;
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
|
||||
struct RadarData @0x888ad6581cf0aacb {
|
||||
errors @0 :List(Error);
|
||||
points @1 :List(RadarPoint);
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @2 :List(UInt64);
|
||||
|
||||
enum Error {
|
||||
canError @0;
|
||||
fault @1;
|
||||
wrongConfig @2;
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
# is one timestamp valid for all? I think so
|
||||
struct RadarPoint {
|
||||
trackId @0 :UInt64; # no trackId reuse
|
||||
|
||||
# these 3 are the minimum required
|
||||
dRel @1 :Float32; # m from the front bumper of the car
|
||||
yRel @2 :Float32; # m
|
||||
vRel @3 :Float32; # m/s
|
||||
|
||||
# these are optional and valid if they are not NaN
|
||||
aRel @4 :Float32; # m/s^2
|
||||
yvRel @5 :Float32; # m/s
|
||||
|
||||
# some radars flag measurements VS estimates
|
||||
measured @6 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* car controls @ 100hz *******
|
||||
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0 :Bool;
|
||||
latActive @11: Bool;
|
||||
longActive @12: Bool;
|
||||
|
||||
# Actuator commands as computed by controlsd
|
||||
actuators @6 :Actuators;
|
||||
|
||||
leftBlinker @15: Bool;
|
||||
rightBlinker @16: Bool;
|
||||
|
||||
# Any car specific rate limits or quirks applied by
|
||||
# the CarController are reflected in actuatorsOutput
|
||||
# and matches what is sent to the car
|
||||
actuatorsOutput @10 :Actuators;
|
||||
|
||||
orientationNED @13 :List(Float32);
|
||||
angularVelocity @14 :List(Float32);
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
# value sent over can to the car
|
||||
steerOutputCan @8: Float32;
|
||||
steeringAngleDeg @3: Float32;
|
||||
|
||||
curvature @7: Float32;
|
||||
|
||||
speed @6: Float32; # m/s
|
||||
accel @4: Float32; # m/s^2
|
||||
longControlState @5: LongControlState;
|
||||
|
||||
enum LongControlState @0xe40f3a917d908282{
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
resume @1: Bool;
|
||||
override @4: Bool;
|
||||
speedOverrideDEPRECATED @2: Float32;
|
||||
accelOverrideDEPRECATED @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
speedVisible @0: Bool;
|
||||
setSpeed @1: Float32;
|
||||
lanesVisible @2: Bool;
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
audibleAlert @5: AudibleAlert;
|
||||
rightLaneVisible @6: Bool;
|
||||
leftLaneVisible @7: Bool;
|
||||
rightLaneDepart @8: Bool;
|
||||
leftLaneDepart @9: Bool;
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
fcw @1;
|
||||
steerRequired @2;
|
||||
brakePressed @3;
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
ldw @7;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
activeDEPRECATED @7 :Bool;
|
||||
rollDEPRECATED @8 :Float32;
|
||||
pitchDEPRECATED @9 :Float32;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
notCar @66 :Bool; # flag for non-car robotics platforms
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
flags @64 :UInt32; # flags for car specific quirks
|
||||
experimentalLongitudinalAvailable @71 :Bool;
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
safetyConfigs @62 :List(SafetyConfig);
|
||||
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
|
||||
|
||||
# Car docs fields
|
||||
maxLateralAccel @68 :Float32;
|
||||
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
|
||||
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
|
||||
|
||||
longitudinalTuning @25 :LongitudinalPIDTuning;
|
||||
lateralParams @48 :LateralParams;
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indi @27 :LateralINDITuning;
|
||||
lqr @40 :LateralLQRTuning;
|
||||
torque @67 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
|
||||
longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
safetyParamDEPRECATED @1 :Int16;
|
||||
safetyParam2DEPRECATED @2 :UInt32;
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
}
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @4 :Float32;
|
||||
}
|
||||
|
||||
struct LateralTorqueTuning {
|
||||
useSteeringAngle @0 :Bool;
|
||||
kp @1 :Float32;
|
||||
ki @2 :Float32;
|
||||
friction @3 :Float32;
|
||||
kf @4 :Float32;
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @6 :Float32;
|
||||
deadzoneBP @4 :List(Float32);
|
||||
deadzoneV @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
enum SafetyModel {
|
||||
silent @0;
|
||||
hondaNidec @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
gm @4;
|
||||
hondaBoschGiraffe @5;
|
||||
ford @6;
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
mazda @13;
|
||||
nissan @14;
|
||||
volkswagen @15;
|
||||
toyotaIpas @16;
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBosch @20;
|
||||
volkswagenPq @21;
|
||||
subaruLegacy @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
stellantisDEPRECATED @25; # Consolidated with Chrysler; may be recycled for the next new model
|
||||
hongqi @26;
|
||||
body @27;
|
||||
hyundaiCanfd @28;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
curvature @2;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Data;
|
||||
address @2 :UInt32;
|
||||
subAddress @3 :UInt8;
|
||||
responseAddress @4 :UInt32;
|
||||
request @5 :List(Data);
|
||||
brand @6 :Text;
|
||||
bus @7 :UInt8;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
abs @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
engine @4;
|
||||
unknown @5;
|
||||
transmission @8; # Transmission Control Module
|
||||
srs @9; # airbag
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
combinationMeter @12; # instrument cluster
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
adas @19;
|
||||
cornerRadar @21;
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
apgs @7;
|
||||
|
||||
# Honda only
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
|
||||
# Chrysler only
|
||||
hcp @18; # Hybrid Control Processor
|
||||
|
||||
# Hyundai only
|
||||
vcu @20; # Vehicle (Motor) Control Unit
|
||||
|
||||
debug @17;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
can @0;
|
||||
fw @1;
|
||||
fixed @2;
|
||||
}
|
||||
|
||||
enum NetworkLocation {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
enableApgsDEPRECATED @6 :Bool;
|
||||
steerRateCostDEPRECATED @33 :Float32;
|
||||
isPandaBlackDEPRECATED @39 :Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
minSpeedCanDEPRECATED @51 :Float32;
|
||||
communityFeatureDEPRECATED @46: Bool;
|
||||
startingAccelRateDEPRECATED @53 :Float32;
|
||||
steerMaxBPDEPRECATED @11 :List(Float32);
|
||||
steerMaxVDEPRECATED @12 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
directAccelControlDEPRECATED @30 :Bool;
|
||||
maxSteeringAngleDegDEPRECATED @54 :Float32;
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
comment: false
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
default:
|
||||
informational: true
|
||||
patch: off
|
||||
|
||||
@@ -0,0 +1,50 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xbfa7e645486440c7;
|
||||
|
||||
# dp
|
||||
struct DragonConf {
|
||||
dpAtl @0 :UInt8;
|
||||
dpLocale @1 :Text;
|
||||
dpLateralMode @2 :UInt8;
|
||||
dpLcMinMph @3 :UInt8;
|
||||
dpLcAutoMinMph @4 :UInt8;
|
||||
dpLcAutoDelay @5 :Float32;
|
||||
dpLateralLanelines @6 :Bool;
|
||||
dpLateralCameraOffset @7 :Int8;
|
||||
dpLateralPathOffset @8 :Int8;
|
||||
dpIpAddr @9 :Text;
|
||||
dpUiTop @10 :Bool;
|
||||
dpUiSide @11 :Bool;
|
||||
dpUiVolume @12 :Int8;
|
||||
dpUiBrightness @13 :UInt8;
|
||||
dpUiDisplayMode @14 :UInt8;
|
||||
dpUiSpeed @15 :Bool;
|
||||
dpUiEvent @16 :Bool;
|
||||
dpUiFace @17 :Bool;
|
||||
dpUiLeadInfo @18 :Bool;
|
||||
dpUiLaneline @19 :Bool;
|
||||
dpUiChevron @20 :Bool;
|
||||
dpUiDmCam @21 :Bool;
|
||||
dpToyotaSng @22 :Bool;
|
||||
dpAccelProfileCtrl @23 :Bool;
|
||||
dpAccelProfile @24 :UInt8;
|
||||
dpToyotaCruiseOverride @25 :Bool;
|
||||
dpToyotaCruiseOverrideSpeed @26 :UInt8;
|
||||
dpToyotaAutoLock @27 :Bool;
|
||||
dpToyotaAutoUnlock @28 :Bool;
|
||||
dpMapd @29 :Bool;
|
||||
dpLocalDb @30 :Bool;
|
||||
dpDashcamd @31 :Bool;
|
||||
dpMazdaSteerAlert @32 :Bool;
|
||||
dpSpeedCheck @33 :Bool;
|
||||
dpFollowingProfileCtrl @34 :Bool;
|
||||
dpFollowingProfile @35 :UInt8;
|
||||
dpE2EConditional @36 :Bool;
|
||||
dpE2EConditionalAtSpeed @37 :UInt8;
|
||||
dpE2EConditionalAtSpeedLead @38 :UInt8;
|
||||
dpE2EConditionalAdaptFp @39 :Bool;
|
||||
dpE2EConditionalAdaptAp @40 :Bool;
|
||||
dpE2EConditionalVoacc @41 :Bool;
|
||||
}
|
||||
Executable
+26
@@ -0,0 +1,26 @@
|
||||
#!/bin/bash
|
||||
|
||||
rm -r gen/ts
|
||||
rm -r gen/js
|
||||
|
||||
mkdir gen/ts
|
||||
mkdir gen/js
|
||||
|
||||
echo "Installing needed npm modules"
|
||||
npm i capnpc-ts capnp-ts
|
||||
|
||||
capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp
|
||||
capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp
|
||||
|
||||
cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line
|
||||
do
|
||||
TOKEN=`echo $line | sed 's/\./_/g'`
|
||||
ROOT=`echo $line | sed 's/\..*$//g'`
|
||||
cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN}
|
||||
if [[ "$?" == "1" ]]
|
||||
then
|
||||
sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts
|
||||
fi
|
||||
done
|
||||
|
||||
tsc ./gen/ts/* --lib es2015 --outDir ./gen/js
|
||||
@@ -0,0 +1,26 @@
|
||||
# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
|
||||
# Licensed under the MIT License:
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
@0xbdf87d7bb8304e81;
|
||||
$namespace("capnp::annotations");
|
||||
|
||||
annotation namespace(file): Text;
|
||||
annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;
|
||||
@@ -0,0 +1,574 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x80ef1ec4889c2a63;
|
||||
|
||||
# legacy.capnp: a home for deprecated structs
|
||||
|
||||
struct LogRotate @0x9811e1f38f62f2d1 {
|
||||
segmentNum @0 :Int32;
|
||||
path @1 :Text;
|
||||
}
|
||||
|
||||
struct LiveUI @0xc08240f996aefced {
|
||||
rearViewCam @0 :Bool;
|
||||
alertText1 @1 :Text;
|
||||
alertText2 @2 :Text;
|
||||
awarenessStatus @3 :Float32;
|
||||
}
|
||||
|
||||
struct UiLayoutState @0x88dcce08ad29dda0 {
|
||||
activeApp @0 :App;
|
||||
sidebarCollapsed @1 :Bool;
|
||||
mapEnabled @2 :Bool;
|
||||
mockEngaged @3 :Bool;
|
||||
|
||||
enum App @0x9917470acf94d285 {
|
||||
home @0;
|
||||
music @1;
|
||||
nav @2;
|
||||
settings @3;
|
||||
none @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbslamCorrection @0x8afd33dc9b35e1aa {
|
||||
correctionMonoTime @0 :UInt64;
|
||||
prePositionECEF @1 :List(Float64);
|
||||
postPositionECEF @2 :List(Float64);
|
||||
prePoseQuatECEF @3 :List(Float32);
|
||||
postPoseQuatECEF @4 :List(Float32);
|
||||
numInliers @5 :UInt32;
|
||||
}
|
||||
|
||||
struct EthernetPacket @0xa99a9d5b33cf5859 {
|
||||
pkt @0 :Data;
|
||||
ts @1 :Float32;
|
||||
}
|
||||
|
||||
struct CellInfo @0xcff7566681c277ce {
|
||||
timestamp @0 :UInt64;
|
||||
repr @1 :Text; # android toString() for now
|
||||
}
|
||||
|
||||
struct WifiScan @0xd4df5a192382ba0b {
|
||||
bssid @0 :Text;
|
||||
ssid @1 :Text;
|
||||
capabilities @2 :Text;
|
||||
frequency @3 :Int32;
|
||||
level @4 :Int32;
|
||||
timestamp @5 :Int64;
|
||||
|
||||
centerFreq0 @6 :Int32;
|
||||
centerFreq1 @7 :Int32;
|
||||
channelWidth @8 :ChannelWidth;
|
||||
operatorFriendlyName @9 :Text;
|
||||
venueName @10 :Text;
|
||||
is80211mcResponder @11 :Bool;
|
||||
passpoint @12 :Bool;
|
||||
|
||||
distanceCm @13 :Int32;
|
||||
distanceSdCm @14 :Int32;
|
||||
|
||||
enum ChannelWidth @0xcb6a279f015f6b51 {
|
||||
w20Mhz @0;
|
||||
w40Mhz @1;
|
||||
w80Mhz @2;
|
||||
w160Mhz @3;
|
||||
w80Plus80Mhz @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveEventData @0x94b7baa90c5c321e {
|
||||
name @0 :Text;
|
||||
value @1 :Int32;
|
||||
}
|
||||
|
||||
struct ModelData @0xb8aad62cffef28a9 {
|
||||
frameId @0 :UInt32;
|
||||
frameAge @12 :UInt32;
|
||||
frameDropPerc @13 :Float32;
|
||||
timestampEof @9 :UInt64;
|
||||
modelExecutionTime @14 :Float32;
|
||||
gpuExecutionTime @16 :Float32;
|
||||
rawPred @15 :Data;
|
||||
|
||||
path @1 :PathData;
|
||||
leftLane @2 :PathData;
|
||||
rightLane @3 :PathData;
|
||||
lead @4 :LeadData;
|
||||
freePath @6 :List(Float32);
|
||||
|
||||
settings @5 :ModelSettings;
|
||||
leadFuture @7 :LeadData;
|
||||
speed @8 :List(Float32);
|
||||
meta @10 :MetaData;
|
||||
longitudinal @11 :LongitudinalData;
|
||||
|
||||
struct PathData @0x8817eeea389e9f08 {
|
||||
points @0 :List(Float32);
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
stds @3 :List(Float32);
|
||||
poly @4 :List(Float32);
|
||||
validLen @5 :Float32;
|
||||
}
|
||||
|
||||
struct LeadData @0xd1c9bef96d26fa91 {
|
||||
dist @0 :Float32;
|
||||
prob @1 :Float32;
|
||||
std @2 :Float32;
|
||||
relVel @3 :Float32;
|
||||
relVelStd @4 :Float32;
|
||||
relY @5 :Float32;
|
||||
relYStd @6 :Float32;
|
||||
relA @7 :Float32;
|
||||
relAStd @8 :Float32;
|
||||
}
|
||||
|
||||
struct ModelSettings @0xa26e3710efd3e914 {
|
||||
bigBoxX @0 :UInt16;
|
||||
bigBoxY @1 :UInt16;
|
||||
bigBoxWidth @2 :UInt16;
|
||||
bigBoxHeight @3 :UInt16;
|
||||
boxProjection @4 :List(Float32);
|
||||
yuvCorrection @5 :List(Float32);
|
||||
inputTransform @6 :List(Float32);
|
||||
}
|
||||
|
||||
struct MetaData @0x9744f25fb60f2bf8 {
|
||||
engagedProb @0 :Float32;
|
||||
desirePrediction @1 :List(Float32);
|
||||
brakeDisengageProb @2 :Float32;
|
||||
gasDisengageProb @3 :Float32;
|
||||
steerOverrideProb @4 :Float32;
|
||||
desireState @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LongitudinalData @0xf98f999c6a071122 {
|
||||
distances @2 :List(Float32);
|
||||
speeds @0 :List(Float32);
|
||||
accelerations @1 :List(Float32);
|
||||
}
|
||||
}
|
||||
|
||||
struct ECEFPoint @0xc25bbbd524983447 {
|
||||
x @0 :Float64;
|
||||
y @1 :Float64;
|
||||
z @2 :Float64;
|
||||
}
|
||||
|
||||
struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
|
||||
x @0 :Float32;
|
||||
y @1 :Float32;
|
||||
z @2 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPoints @0xab54c59699f8f9f3 {
|
||||
curPosDEPRECATED @0 :ECEFPointDEPRECATED;
|
||||
pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
|
||||
curPos @6 :ECEFPoint;
|
||||
points @7 :List(ECEFPoint);
|
||||
valid @2 :Bool;
|
||||
trackName @3 :Text;
|
||||
speedLimit @4 :Float32;
|
||||
accelTarget @5 :Float32;
|
||||
}
|
||||
|
||||
struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
|
||||
valid @0 :Bool;
|
||||
poly @1 :List(Float32);
|
||||
trackName @2 :Text;
|
||||
speed @3 :Float32;
|
||||
acceleration @4 :Float32;
|
||||
pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
|
||||
points @6 :List(ECEFPoint);
|
||||
xLookahead @7 :Float32;
|
||||
}
|
||||
|
||||
struct UiNavigationEvent @0x90c8426c3eaddd3b {
|
||||
type @0: Type;
|
||||
status @1: Status;
|
||||
distanceTo @2: Float32;
|
||||
endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
|
||||
endRoadPoint @4: ECEFPoint;
|
||||
|
||||
enum Type @0xe8db07dcf8fcea05 {
|
||||
none @0;
|
||||
laneChangeLeft @1;
|
||||
laneChangeRight @2;
|
||||
mergeLeft @3;
|
||||
mergeRight @4;
|
||||
turnLeft @5;
|
||||
turnRight @6;
|
||||
}
|
||||
|
||||
enum Status @0xb9aa88c75ef99a1f {
|
||||
none @0;
|
||||
passive @1;
|
||||
approaching @2;
|
||||
active @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct LiveLocationData @0xb99b2bc7a57e8128 {
|
||||
status @0 :UInt8;
|
||||
|
||||
# 3D fix
|
||||
lat @1 :Float64;
|
||||
lon @2 :Float64;
|
||||
alt @3 :Float32; # m
|
||||
|
||||
# speed
|
||||
speed @4 :Float32; # m/s
|
||||
|
||||
# NED velocity components
|
||||
vNED @5 :List(Float32);
|
||||
|
||||
# roll, pitch, heading (x,y,z)
|
||||
roll @6 :Float32; # WRT to center of earth?
|
||||
pitch @7 :Float32; # WRT to center of earth?
|
||||
heading @8 :Float32; # WRT to north?
|
||||
|
||||
# what are these?
|
||||
wanderAngle @9 :Float32;
|
||||
trackAngle @10 :Float32;
|
||||
|
||||
# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
|
||||
|
||||
# gyro, in car frame, deg/s
|
||||
gyro @11 :List(Float32);
|
||||
|
||||
# accel, in car frame, m/s^2
|
||||
accel @12 :List(Float32);
|
||||
|
||||
accuracy @13 :Accuracy;
|
||||
|
||||
source @14 :SensorSource;
|
||||
# if we are fixing a location in the past
|
||||
fixMonoTime @15 :UInt64;
|
||||
|
||||
gpsWeek @16 :Int32;
|
||||
timeOfWeek @17 :Float64;
|
||||
|
||||
positionECEF @18 :List(Float64);
|
||||
poseQuatECEF @19 :List(Float32);
|
||||
pitchCalibration @20 :Float32;
|
||||
yawCalibration @21 :Float32;
|
||||
imuFrame @22 :List(Float32);
|
||||
|
||||
struct Accuracy @0x943dc4625473b03f {
|
||||
pNEDError @0 :List(Float32);
|
||||
vNEDError @1 :List(Float32);
|
||||
rollError @2 :Float32;
|
||||
pitchError @3 :Float32;
|
||||
headingError @4 :Float32;
|
||||
ellipsoidSemiMajorError @5 :Float32;
|
||||
ellipsoidSemiMinorError @6 :Float32;
|
||||
ellipsoidOrientationError @7 :Float32;
|
||||
}
|
||||
|
||||
enum SensorSource @0xc871d3cc252af657 {
|
||||
applanix @0;
|
||||
kalman @1;
|
||||
orbslam @2;
|
||||
timing @3;
|
||||
dummy @4;
|
||||
}
|
||||
}
|
||||
|
||||
struct OrbOdometry @0xd7700859ed1f5b76 {
|
||||
# timing first
|
||||
startMonoTime @0 :UInt64;
|
||||
endMonoTime @1 :UInt64;
|
||||
|
||||
# fundamental matrix and error
|
||||
f @2: List(Float64);
|
||||
err @3: Float64;
|
||||
|
||||
# number of inlier points
|
||||
inliers @4: Int32;
|
||||
|
||||
# for debug only
|
||||
# indexed by endMonoTime features
|
||||
# value is startMonoTime feature match
|
||||
# -1 if no match
|
||||
matches @5: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeatures @0xcd60164a8a0159ef {
|
||||
timestampEof @0 :UInt64;
|
||||
# transposed arrays of normalized image coordinates
|
||||
# len(xs) == len(ys) == len(descriptors) * 32
|
||||
xs @1 :List(Float32);
|
||||
ys @2 :List(Float32);
|
||||
descriptors @3 :Data;
|
||||
octaves @4 :List(Int8);
|
||||
|
||||
# match index to last OrbFeatures
|
||||
# -1 if no match
|
||||
timestampLastEof @5 :UInt64;
|
||||
matches @6: List(Int16);
|
||||
}
|
||||
|
||||
struct OrbFeaturesSummary @0xd500d30c5803fa4f {
|
||||
timestampEof @0 :UInt64;
|
||||
timestampLastEof @1 :UInt64;
|
||||
|
||||
featureCount @2 :UInt16;
|
||||
matchCount @3 :UInt16;
|
||||
computeNs @4 :UInt64;
|
||||
}
|
||||
|
||||
struct OrbKeyFrame @0xc8233c0345e27e24 {
|
||||
# this is a globally unique id for the KeyFrame
|
||||
id @0: UInt64;
|
||||
|
||||
# this is the location of the KeyFrame
|
||||
pos @1: ECEFPoint;
|
||||
|
||||
# these are the features in the world
|
||||
# len(dpos) == len(descriptors) * 32
|
||||
dpos @2 :List(ECEFPoint);
|
||||
descriptors @3 :Data;
|
||||
}
|
||||
|
||||
struct KalmanOdometry @0x92e21bb7ea38793a {
|
||||
trans @0 :List(Float32); # m/s in device frame
|
||||
rot @1 :List(Float32); # rad/s in device frame
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct OrbObservation @0x9b326d4e436afec7 {
|
||||
observationMonoTime @0 :UInt64;
|
||||
normalizedCoordinates @1 :List(Float32);
|
||||
locationECEF @2 :List(Float64);
|
||||
matchDistance @3: UInt32;
|
||||
}
|
||||
|
||||
struct CalibrationFeatures @0x8fdfadb254ea867a {
|
||||
frameId @0 :UInt32;
|
||||
|
||||
p0 @1 :List(Float32);
|
||||
p1 @2 :List(Float32);
|
||||
status @3 :List(Int8);
|
||||
}
|
||||
|
||||
struct NavStatus @0xbd8822120928120c {
|
||||
isNavigating @0 :Bool;
|
||||
currentAddress @1 :Address;
|
||||
|
||||
struct Address @0xce7cd672cacc7814 {
|
||||
title @0 :Text;
|
||||
lat @1 :Float64;
|
||||
lng @2 :Float64;
|
||||
house @3 :Text;
|
||||
address @4 :Text;
|
||||
street @5 :Text;
|
||||
city @6 :Text;
|
||||
state @7 :Text;
|
||||
country @8 :Text;
|
||||
}
|
||||
}
|
||||
|
||||
struct NavUpdate @0xdb98be6565516acb {
|
||||
isNavigating @0 :Bool;
|
||||
curSegment @1 :Int32;
|
||||
segments @2 :List(Segment);
|
||||
|
||||
struct LatLng @0x9eaef9187cadbb9b {
|
||||
lat @0 :Float64;
|
||||
lng @1 :Float64;
|
||||
}
|
||||
|
||||
struct Segment @0xa5b39b4fc4d7da3f {
|
||||
from @0 :LatLng;
|
||||
to @1 :LatLng;
|
||||
updateTime @2 :Int32;
|
||||
distance @3 :Int32;
|
||||
crossTime @4 :Int32;
|
||||
exitNo @5 :Int32;
|
||||
instruction @6 :Instruction;
|
||||
|
||||
parts @7 :List(LatLng);
|
||||
|
||||
enum Instruction @0xc5417a637451246f {
|
||||
turnLeft @0;
|
||||
turnRight @1;
|
||||
keepLeft @2;
|
||||
keepRight @3;
|
||||
straight @4;
|
||||
roundaboutExitNumber @5;
|
||||
roundaboutExit @6;
|
||||
roundaboutTurnLeft @7;
|
||||
unkn8 @8;
|
||||
roundaboutStraight @9;
|
||||
unkn10 @10;
|
||||
roundaboutTurnRight @11;
|
||||
unkn12 @12;
|
||||
roundaboutUturn @13;
|
||||
unkn14 @14;
|
||||
arrive @15;
|
||||
exitLeft @16;
|
||||
exitRight @17;
|
||||
unkn18 @18;
|
||||
uturn @19;
|
||||
# ...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct TrafficEvent @0xacfa74a094e62626 {
|
||||
type @0 :Type;
|
||||
distance @1 :Float32;
|
||||
action @2 :Action;
|
||||
resuming @3 :Bool;
|
||||
|
||||
enum Type @0xd85d75253435bf4b {
|
||||
stopSign @0;
|
||||
lightRed @1;
|
||||
lightYellow @2;
|
||||
lightGreen @3;
|
||||
stopLight @4;
|
||||
}
|
||||
|
||||
enum Action @0xa6f6ce72165ccb49 {
|
||||
none @0;
|
||||
yield @1;
|
||||
stop @2;
|
||||
resumeReady @3;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct AndroidGnss @0xdfdf30d03fc485bd {
|
||||
union {
|
||||
measurements @0 :Measurements;
|
||||
navigationMessage @1 :NavigationMessage;
|
||||
}
|
||||
|
||||
struct Measurements @0xa20710d4f428d6cd {
|
||||
clock @0 :Clock;
|
||||
measurements @1 :List(Measurement);
|
||||
|
||||
struct Clock @0xa0e27b453a38f450 {
|
||||
timeNanos @0 :Int64;
|
||||
hardwareClockDiscontinuityCount @1 :Int32;
|
||||
|
||||
hasTimeUncertaintyNanos @2 :Bool;
|
||||
timeUncertaintyNanos @3 :Float64;
|
||||
|
||||
hasLeapSecond @4 :Bool;
|
||||
leapSecond @5 :Int32;
|
||||
|
||||
hasFullBiasNanos @6 :Bool;
|
||||
fullBiasNanos @7 :Int64;
|
||||
|
||||
hasBiasNanos @8 :Bool;
|
||||
biasNanos @9 :Float64;
|
||||
|
||||
hasBiasUncertaintyNanos @10 :Bool;
|
||||
biasUncertaintyNanos @11 :Float64;
|
||||
|
||||
hasDriftNanosPerSecond @12 :Bool;
|
||||
driftNanosPerSecond @13 :Float64;
|
||||
|
||||
hasDriftUncertaintyNanosPerSecond @14 :Bool;
|
||||
driftUncertaintyNanosPerSecond @15 :Float64;
|
||||
}
|
||||
|
||||
struct Measurement @0xd949bf717d77614d {
|
||||
svId @0 :Int32;
|
||||
constellation @1 :Constellation;
|
||||
|
||||
timeOffsetNanos @2 :Float64;
|
||||
state @3 :Int32;
|
||||
receivedSvTimeNanos @4 :Int64;
|
||||
receivedSvTimeUncertaintyNanos @5 :Int64;
|
||||
cn0DbHz @6 :Float64;
|
||||
pseudorangeRateMetersPerSecond @7 :Float64;
|
||||
pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
|
||||
accumulatedDeltaRangeState @9 :Int32;
|
||||
accumulatedDeltaRangeMeters @10 :Float64;
|
||||
accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
|
||||
|
||||
hasCarrierFrequencyHz @12 :Bool;
|
||||
carrierFrequencyHz @13 :Float32;
|
||||
hasCarrierCycles @14 :Bool;
|
||||
carrierCycles @15 :Int64;
|
||||
hasCarrierPhase @16 :Bool;
|
||||
carrierPhase @17 :Float64;
|
||||
hasCarrierPhaseUncertainty @18 :Bool;
|
||||
carrierPhaseUncertainty @19 :Float64;
|
||||
hasSnrInDb @20 :Bool;
|
||||
snrInDb @21 :Float64;
|
||||
|
||||
multipathIndicator @22 :MultipathIndicator;
|
||||
|
||||
enum Constellation @0x9ef1f3ff0deb5ffb {
|
||||
unknown @0;
|
||||
gps @1;
|
||||
sbas @2;
|
||||
glonass @3;
|
||||
qzss @4;
|
||||
beidou @5;
|
||||
galileo @6;
|
||||
}
|
||||
|
||||
enum State @0xcbb9490adce12d72 {
|
||||
unknown @0;
|
||||
codeLock @1;
|
||||
bitSync @2;
|
||||
subframeSync @3;
|
||||
towDecoded @4;
|
||||
msecAmbiguous @5;
|
||||
symbolSync @6;
|
||||
gloStringSync @7;
|
||||
gloTodDecoded @8;
|
||||
bdsD2BitSync @9;
|
||||
bdsD2SubframeSync @10;
|
||||
galE1bcCodeLock @11;
|
||||
galE1c2ndCodeLock @12;
|
||||
galE1bPageSync @13;
|
||||
sbasSync @14;
|
||||
}
|
||||
|
||||
enum MultipathIndicator @0xc04e7b6231d4caa8 {
|
||||
unknown @0;
|
||||
detected @1;
|
||||
notDetected @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct NavigationMessage @0xe2517b083095fd4e {
|
||||
type @0 :Int32;
|
||||
svId @1 :Int32;
|
||||
messageId @2 :Int32;
|
||||
submessageId @3 :Int32;
|
||||
data @4 :Data;
|
||||
status @5 :Status;
|
||||
|
||||
enum Status @0xec1ff7996b35366f {
|
||||
unknown @0;
|
||||
parityPassed @1;
|
||||
parityRebuilt @2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
reflect @2 :List(UInt8); # uint8 0-255
|
||||
|
||||
# For storing out of file.
|
||||
idx @3 :UInt64;
|
||||
|
||||
# For storing in file
|
||||
pkt @4 :Data;
|
||||
}
|
||||
|
||||
|
||||
Executable
BIN
Binary file not shown.
+2209
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,21 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef SWAGLOG
|
||||
// cppcheck-suppress preprocessorErrorDirective
|
||||
#include SWAGLOG
|
||||
#else
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
#define CLOUDLOG_INFO 20
|
||||
#define CLOUDLOG_WARNING 30
|
||||
#define CLOUDLOG_ERROR 40
|
||||
#define CLOUDLOG_CRITICAL 50
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__)
|
||||
|
||||
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
|
||||
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
|
||||
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
|
||||
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,49 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0xa086df597ef5d7a0;
|
||||
|
||||
# Geometry
|
||||
struct Point {
|
||||
x @0: Float64;
|
||||
y @1: Float64;
|
||||
z @2: Float64;
|
||||
}
|
||||
|
||||
struct PolyLine {
|
||||
points @0: List(Point);
|
||||
}
|
||||
|
||||
# Map features
|
||||
struct Lane {
|
||||
id @0 :Text;
|
||||
|
||||
leftBoundary @1 :LaneBoundary;
|
||||
rightBoundary @2 :LaneBoundary;
|
||||
|
||||
leftAdjacentId @3 :Text;
|
||||
rightAdjacentId @4 :Text;
|
||||
|
||||
inboundIds @5 :List(Text);
|
||||
outboundIds @6 :List(Text);
|
||||
|
||||
struct LaneBoundary {
|
||||
polyLine @0 :PolyLine;
|
||||
startHeading @1 :Float32; # WRT north
|
||||
}
|
||||
}
|
||||
|
||||
# Map tiles
|
||||
struct TileSummary {
|
||||
version @0 :Text;
|
||||
updatedAt @1 :UInt64; # Millis since epoch
|
||||
|
||||
level @2 :UInt8;
|
||||
x @3 :UInt16;
|
||||
y @4 :UInt16;
|
||||
}
|
||||
|
||||
struct MapTile {
|
||||
summary @0 :TileSummary;
|
||||
lanes @1 :List(Lane);
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
demo
|
||||
bridge
|
||||
test_runner
|
||||
*.o
|
||||
*.os
|
||||
*.d
|
||||
*.a
|
||||
*.so
|
||||
messaging_pyx.cpp
|
||||
build/
|
||||
@@ -0,0 +1,262 @@
|
||||
# must be build with scons
|
||||
from .messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
from .messaging_pyx import MultiplePublishersError, MessagingError # pylint: disable=no-name-in-module, import-error
|
||||
import os
|
||||
import capnp
|
||||
|
||||
from typing import Optional, List, Union
|
||||
from collections import deque
|
||||
|
||||
from cereal import log
|
||||
from cereal.services import service_list
|
||||
|
||||
assert MultiplePublishersError
|
||||
assert MessagingError
|
||||
|
||||
NO_TRAVERSAL_LIMIT = 2**64-1
|
||||
AVG_FREQ_HISTORY = 100
|
||||
SIMULATION = "SIMULATION" in os.environ
|
||||
|
||||
# sec_since_boot is faster, but allow to run standalone too
|
||||
try:
|
||||
from common.realtime import sec_since_boot
|
||||
except ImportError:
|
||||
import time
|
||||
sec_since_boot = time.time
|
||||
print("Warning, using python time.time() instead of faster sec_since_boot")
|
||||
|
||||
context = Context()
|
||||
|
||||
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
|
||||
|
||||
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
|
||||
dat = log.Event.new_message()
|
||||
dat.logMonoTime = int(sec_since_boot() * 1e9)
|
||||
dat.valid = True
|
||||
if service is not None:
|
||||
if size is None:
|
||||
dat.init(service)
|
||||
else:
|
||||
dat.init(service, size)
|
||||
return dat
|
||||
|
||||
def pub_sock(endpoint: str) -> PubSocket:
|
||||
sock = PubSocket()
|
||||
sock.connect(context, endpoint)
|
||||
return sock
|
||||
|
||||
def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
|
||||
conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
|
||||
sock = SubSocket()
|
||||
sock.connect(context, endpoint, addr.encode('utf8'), conflate)
|
||||
|
||||
if timeout is not None:
|
||||
sock.setTimeout(timeout)
|
||||
|
||||
if poller is not None:
|
||||
poller.registerSocket(sock)
|
||||
return sock
|
||||
|
||||
|
||||
def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret: List[bytes] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None:
|
||||
break
|
||||
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Receive all message currently available on the queue"""
|
||||
ret: List[capnp.lib.capnp._DynamicStructReader] = []
|
||||
while 1:
|
||||
if wait_for_one and len(ret) == 0:
|
||||
dat = sock.receive()
|
||||
else:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
|
||||
if dat is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = log_from_bytes(dat)
|
||||
ret.append(dat)
|
||||
|
||||
return ret
|
||||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
while 1:
|
||||
if wait and dat is None:
|
||||
rcv = sock.receive()
|
||||
else:
|
||||
rcv = sock.receive(non_blocking=True)
|
||||
|
||||
if rcv is None: # Timeout hit
|
||||
break
|
||||
|
||||
dat = rcv
|
||||
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
|
||||
return dat
|
||||
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
||||
"""Keep receiving until we get a message"""
|
||||
while True:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
return log_from_bytes(dat)
|
||||
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
addr: str = "127.0.0.1"):
|
||||
self.frame = -1
|
||||
self.updated = {s: False for s in services}
|
||||
self.rcv_time = {s: 0. for s in services}
|
||||
self.rcv_frame = {s: 0 for s in services}
|
||||
self.alive = {s: False for s in services}
|
||||
self.freq_ok = {s: False for s in services}
|
||||
self.recv_dts = {s: deque([0.0] * AVG_FREQ_HISTORY, maxlen=AVG_FREQ_HISTORY) for s in services}
|
||||
self.sock = {}
|
||||
self.freq = {}
|
||||
self.data = {}
|
||||
self.valid = {}
|
||||
self.logMonoTime = {}
|
||||
|
||||
self.poller = Poller()
|
||||
self.non_polled_services = [s for s in services if poll is not None and
|
||||
len(poll) and s not in poll]
|
||||
|
||||
self.ignore_average_freq = [] if ignore_avg_freq is None else ignore_avg_freq
|
||||
self.ignore_alive = [] if ignore_alive is None else ignore_alive
|
||||
|
||||
for s in services:
|
||||
if addr is not None:
|
||||
p = self.poller if s not in self.non_polled_services else None
|
||||
self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
|
||||
self.freq[s] = service_list[s].frequency
|
||||
|
||||
try:
|
||||
data = new_message(s)
|
||||
except capnp.lib.capnp.KjException: # pylint: disable=c-extension-no-member
|
||||
data = new_message(s, 0) # lists
|
||||
|
||||
self.data[s] = getattr(data, s)
|
||||
self.logMonoTime[s] = 0
|
||||
self.valid[s] = data.valid
|
||||
|
||||
def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
|
||||
return self.data[s]
|
||||
|
||||
def update(self, timeout: int = 1000) -> None:
|
||||
msgs = []
|
||||
for sock in self.poller.poll(timeout):
|
||||
msgs.append(recv_one_or_none(sock))
|
||||
|
||||
# non-blocking receive for non-polled sockets
|
||||
for s in self.non_polled_services:
|
||||
msgs.append(recv_one_or_none(self.sock[s]))
|
||||
self.update_msgs(sec_since_boot(), msgs)
|
||||
|
||||
def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
|
||||
self.frame += 1
|
||||
self.updated = dict.fromkeys(self.updated, False)
|
||||
for msg in msgs:
|
||||
if msg is None:
|
||||
continue
|
||||
|
||||
s = msg.which()
|
||||
self.updated[s] = True
|
||||
|
||||
if self.rcv_time[s] > 1e-5 and self.freq[s] > 1e-5 and (s not in self.non_polled_services) \
|
||||
and (s not in self.ignore_average_freq):
|
||||
self.recv_dts[s].append(cur_time - self.rcv_time[s])
|
||||
|
||||
self.rcv_time[s] = cur_time
|
||||
self.rcv_frame[s] = self.frame
|
||||
self.data[s] = getattr(msg, s)
|
||||
self.logMonoTime[s] = msg.logMonoTime
|
||||
self.valid[s] = msg.valid
|
||||
|
||||
if SIMULATION:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
|
||||
if not SIMULATION:
|
||||
for s in self.data:
|
||||
# arbitrary small number to avoid float comparison. If freq is 0, we can skip the check
|
||||
if self.freq[s] > 1e-5:
|
||||
# alive if delay is within 10x the expected frequency
|
||||
self.alive[s] = (cur_time - self.rcv_time[s]) < (10. / self.freq[s])
|
||||
|
||||
# TODO: check if update frequency is high enough to not drop messages
|
||||
# freq_ok if average frequency is higher than 90% of expected frequency
|
||||
avg_dt = sum(self.recv_dts[s]) / AVG_FREQ_HISTORY
|
||||
expected_dt = 1 / (self.freq[s] * 0.90)
|
||||
self.freq_ok[s] = (avg_dt < expected_dt)
|
||||
else:
|
||||
self.freq_ok[s] = True
|
||||
self.alive[s] = True
|
||||
|
||||
def all_alive(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.alive[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_freq_ok(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return all(self.freq_ok[s] for s in service_list if s not in self.ignore_alive)
|
||||
|
||||
def all_valid(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.valid.keys()
|
||||
return all(self.valid[s] for s in service_list)
|
||||
|
||||
def all_checks(self, service_list=None) -> bool:
|
||||
if service_list is None: # check all
|
||||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) \
|
||||
and self.all_freq_ok(service_list=service_list) \
|
||||
and self.all_valid(service_list=service_list)
|
||||
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
self.sock[s] = pub_sock(s)
|
||||
|
||||
def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder]) -> None:
|
||||
if not isinstance(dat, bytes):
|
||||
dat = dat.to_bytes()
|
||||
self.sock[s].send(dat)
|
||||
|
||||
def all_readers_updated(self, s: str) -> bool:
|
||||
return self.sock[s].all_readers_updated()
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,29 @@
|
||||
import time
|
||||
|
||||
from messaging_pyx import Context, Poller, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
MSGS = 1e5
|
||||
|
||||
if __name__ == "__main__":
|
||||
c = Context()
|
||||
sub_sock = SubSocket()
|
||||
pub_sock = PubSocket()
|
||||
|
||||
sub_sock.connect(c, "controlsState")
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
poller = Poller()
|
||||
poller.registerSocket(sub_sock)
|
||||
|
||||
t = time.time()
|
||||
for i in range(int(MSGS)):
|
||||
bts = i.to_bytes(4, 'little')
|
||||
pub_sock.send(bts)
|
||||
|
||||
for s in poller.poll(100):
|
||||
dat = s.receive()
|
||||
ii = int.from_bytes(dat, 'little')
|
||||
assert(i == ii)
|
||||
|
||||
dt = time.time() - t
|
||||
print("%.1f msg/s" % (MSGS / dt))
|
||||
@@ -0,0 +1,65 @@
|
||||
#pragma once
|
||||
#include "messaging.h"
|
||||
#include "msgq.h"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class MSGQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
MSGQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~MSGQContext();
|
||||
};
|
||||
|
||||
class MSGQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
void takeOwnership(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~MSGQMessage();
|
||||
};
|
||||
|
||||
class MSGQSubSocket : public SubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
int timeout;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return (void*)q;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
~MSGQSubSocket();
|
||||
};
|
||||
|
||||
class MSGQPubSocket : public PubSocket {
|
||||
private:
|
||||
msgq_queue_t * q = NULL;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~MSGQPubSocket();
|
||||
};
|
||||
|
||||
class MSGQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
msgq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~MSGQPoller(){};
|
||||
};
|
||||
@@ -0,0 +1,64 @@
|
||||
#pragma once
|
||||
#include "messaging.h"
|
||||
#include <zmq.h>
|
||||
#include <string>
|
||||
|
||||
#define MAX_POLLERS 128
|
||||
|
||||
class ZMQContext : public Context {
|
||||
private:
|
||||
void * context = NULL;
|
||||
public:
|
||||
ZMQContext();
|
||||
void * getRawContext() {return context;}
|
||||
~ZMQContext();
|
||||
};
|
||||
|
||||
class ZMQMessage : public Message {
|
||||
private:
|
||||
char * data;
|
||||
size_t size;
|
||||
public:
|
||||
void init(size_t size);
|
||||
void init(char *data, size_t size);
|
||||
size_t getSize(){return size;}
|
||||
char * getData(){return data;}
|
||||
void close();
|
||||
~ZMQMessage();
|
||||
};
|
||||
|
||||
class ZMQSubSocket : public SubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true);
|
||||
void setTimeout(int timeout);
|
||||
void * getRawSocket() {return sock;}
|
||||
Message *receive(bool non_blocking=false);
|
||||
~ZMQSubSocket();
|
||||
};
|
||||
|
||||
class ZMQPubSocket : public PubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
int send(char *data, size_t size);
|
||||
bool all_readers_updated();
|
||||
~ZMQPubSocket();
|
||||
};
|
||||
|
||||
class ZMQPoller : public Poller {
|
||||
private:
|
||||
std::vector<SubSocket*> sockets;
|
||||
zmq_pollitem_t polls[MAX_POLLERS];
|
||||
size_t num_polls = 0;
|
||||
|
||||
public:
|
||||
void registerSocket(SubSocket *socket);
|
||||
std::vector<SubSocket*> poll(int timeout);
|
||||
~ZMQPoller(){};
|
||||
};
|
||||
@@ -0,0 +1,145 @@
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <capnp/serialize.h>
|
||||
#include "../gen/cpp/log.capnp.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#define CLOCK_BOOTTIME CLOCK_MONOTONIC
|
||||
#endif
|
||||
|
||||
#define MSG_MULTIPLE_PUBLISHERS 100
|
||||
|
||||
bool messaging_use_zmq();
|
||||
|
||||
class Context {
|
||||
public:
|
||||
virtual void * getRawContext() = 0;
|
||||
static Context * create();
|
||||
virtual ~Context(){};
|
||||
};
|
||||
|
||||
class Message {
|
||||
public:
|
||||
virtual void init(size_t size) = 0;
|
||||
virtual void init(char * data, size_t size) = 0;
|
||||
virtual void close() = 0;
|
||||
virtual size_t getSize() = 0;
|
||||
virtual char * getData() = 0;
|
||||
virtual ~Message(){};
|
||||
};
|
||||
|
||||
|
||||
class SubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0;
|
||||
virtual void setTimeout(int timeout) = 0;
|
||||
virtual Message *receive(bool non_blocking=false) = 0;
|
||||
virtual void * getRawSocket() = 0;
|
||||
static SubSocket * create();
|
||||
static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true);
|
||||
virtual ~SubSocket(){};
|
||||
};
|
||||
|
||||
class PubSocket {
|
||||
public:
|
||||
virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0;
|
||||
virtual int sendMessage(Message *message) = 0;
|
||||
virtual int send(char *data, size_t size) = 0;
|
||||
virtual bool all_readers_updated() = 0;
|
||||
static PubSocket * create();
|
||||
static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true);
|
||||
static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true);
|
||||
virtual ~PubSocket(){};
|
||||
};
|
||||
|
||||
class Poller {
|
||||
public:
|
||||
virtual void registerSocket(SubSocket *socket) = 0;
|
||||
virtual std::vector<SubSocket*> poll(int timeout) = 0;
|
||||
static Poller * create();
|
||||
static Poller * create(std::vector<SubSocket*> sockets);
|
||||
virtual ~Poller(){};
|
||||
};
|
||||
|
||||
class SubMaster {
|
||||
public:
|
||||
SubMaster(const std::vector<const char *> &service_list,
|
||||
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
|
||||
void update(int timeout = 1000);
|
||||
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
|
||||
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
|
||||
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
|
||||
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
|
||||
void drain();
|
||||
~SubMaster();
|
||||
|
||||
uint64_t frame = 0;
|
||||
bool updated(const char *name) const;
|
||||
bool alive(const char *name) const;
|
||||
bool valid(const char *name) const;
|
||||
uint64_t rcv_frame(const char *name) const;
|
||||
uint64_t rcv_time(const char *name) const;
|
||||
cereal::Event::Reader &operator[](const char *name) const;
|
||||
|
||||
private:
|
||||
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
|
||||
Poller *poller_ = nullptr;
|
||||
struct SubMessage;
|
||||
std::map<SubSocket *, SubMessage *> messages_;
|
||||
std::map<std::string, SubMessage *> services_;
|
||||
};
|
||||
|
||||
class MessageBuilder : public capnp::MallocMessageBuilder {
|
||||
public:
|
||||
MessageBuilder() = default;
|
||||
|
||||
cereal::Event::Builder initEvent(bool valid = true) {
|
||||
cereal::Event::Builder event = initRoot<cereal::Event>();
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
event.setLogMonoTime(current_time);
|
||||
event.setValid(valid);
|
||||
return event;
|
||||
}
|
||||
|
||||
kj::ArrayPtr<capnp::byte> toBytes() {
|
||||
heapArray_ = capnp::messageToFlatArray(*this);
|
||||
return heapArray_.asBytes();
|
||||
}
|
||||
|
||||
private:
|
||||
kj::Array<capnp::word> heapArray_;
|
||||
};
|
||||
|
||||
class PubMaster {
|
||||
public:
|
||||
PubMaster(const std::vector<const char *> &service_list);
|
||||
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
|
||||
int send(const char *name, MessageBuilder &msg);
|
||||
~PubMaster();
|
||||
|
||||
private:
|
||||
std::map<std::string, PubSocket *> sockets_;
|
||||
};
|
||||
|
||||
class AlignedBuffer {
|
||||
public:
|
||||
kj::ArrayPtr<const capnp::word> align(const char *data, const size_t size) {
|
||||
words_size = size / sizeof(capnp::word) + 1;
|
||||
if (aligned_buf.size() < words_size) {
|
||||
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
|
||||
}
|
||||
memcpy(aligned_buf.begin(), data, size);
|
||||
return aligned_buf.slice(0, words_size);
|
||||
}
|
||||
inline kj::ArrayPtr<const capnp::word> align(Message *m) {
|
||||
return align(m->getData(), m->getSize());
|
||||
}
|
||||
private:
|
||||
kj::Array<capnp::word> aligned_buf;
|
||||
size_t words_size;
|
||||
};
|
||||
@@ -0,0 +1,40 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "messaging.h":
|
||||
cdef cppclass Context:
|
||||
@staticmethod
|
||||
Context * create()
|
||||
|
||||
cdef cppclass Message:
|
||||
void init(size_t)
|
||||
void init(char *, size_t)
|
||||
void close()
|
||||
size_t getSize()
|
||||
char *getData()
|
||||
|
||||
cdef cppclass SubSocket:
|
||||
@staticmethod
|
||||
SubSocket * create()
|
||||
int connect(Context *, string, string, bool)
|
||||
Message * receive(bool)
|
||||
void setTimeout(int)
|
||||
|
||||
cdef cppclass PubSocket:
|
||||
@staticmethod
|
||||
PubSocket * create()
|
||||
int connect(Context *, string)
|
||||
int sendMessage(Message *)
|
||||
int send(char *, size_t)
|
||||
bool all_readers_updated()
|
||||
|
||||
cdef cppclass Poller:
|
||||
@staticmethod
|
||||
Poller * create()
|
||||
void registerSocket(SubSocket *)
|
||||
vector[SubSocket*] poll(int) nogil
|
||||
File diff suppressed because it is too large
Load Diff
Executable
BIN
Binary file not shown.
@@ -0,0 +1,68 @@
|
||||
#pragma once
|
||||
#include <cstdint>
|
||||
#include <cstring>
|
||||
#include <string>
|
||||
#include <atomic>
|
||||
|
||||
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
|
||||
#define NUM_READERS 13 //default comma is 12
|
||||
#define ALIGN(n) ((n + (8 - 1)) & -8)
|
||||
|
||||
#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
|
||||
#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
|
||||
|
||||
struct msgq_header_t {
|
||||
uint64_t num_readers;
|
||||
uint64_t write_pointer;
|
||||
uint64_t write_uid;
|
||||
uint64_t read_pointers[NUM_READERS];
|
||||
uint64_t read_valids[NUM_READERS];
|
||||
uint64_t read_uids[NUM_READERS];
|
||||
};
|
||||
|
||||
struct msgq_queue_t {
|
||||
std::atomic<uint64_t> *num_readers;
|
||||
std::atomic<uint64_t> *write_pointer;
|
||||
std::atomic<uint64_t> *write_uid;
|
||||
std::atomic<uint64_t> *read_pointers[NUM_READERS];
|
||||
std::atomic<uint64_t> *read_valids[NUM_READERS];
|
||||
std::atomic<uint64_t> *read_uids[NUM_READERS];
|
||||
char * mmap_p;
|
||||
char * data;
|
||||
size_t size;
|
||||
int reader_id;
|
||||
uint64_t read_uid_local;
|
||||
uint64_t write_uid_local;
|
||||
|
||||
bool read_conflate;
|
||||
std::string endpoint;
|
||||
};
|
||||
|
||||
struct msgq_msg_t {
|
||||
size_t size;
|
||||
char * data;
|
||||
};
|
||||
|
||||
struct msgq_pollitem_t {
|
||||
msgq_queue_t *q;
|
||||
int revents;
|
||||
};
|
||||
|
||||
void msgq_wait_for_subscriber(msgq_queue_t *q);
|
||||
void msgq_reset_reader(msgq_queue_t *q);
|
||||
|
||||
int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
|
||||
int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
|
||||
int msgq_msg_close(msgq_msg_t *msg);
|
||||
|
||||
int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
|
||||
void msgq_close_queue(msgq_queue_t *q);
|
||||
void msgq_init_publisher(msgq_queue_t * q);
|
||||
void msgq_init_subscriber(msgq_queue_t * q);
|
||||
|
||||
int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
|
||||
int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
|
||||
int msgq_msg_ready(msgq_queue_t * q);
|
||||
int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
|
||||
|
||||
bool msgq_all_readers_updated(msgq_queue_t *q);
|
||||
@@ -0,0 +1,54 @@
|
||||
# MSGQ: A lock free single producer multi consumer message queue
|
||||
|
||||
## What is MSGQ?
|
||||
MSGQ is a system to pass messages from a single producer to multiple consumers. All the consumers need to be able to receive all the messages. It is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance.
|
||||
|
||||
## Storage
|
||||
The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains:
|
||||
|
||||
1. A counter to the number of readers that are active
|
||||
2. A pointer to the head of the queue for writing. From now on referred to as *write pointer*
|
||||
3. A cycle counter for the writer. This counter is incremented when the writer wraps around
|
||||
4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer*
|
||||
5. N counters, counting the number of cycles for all the readers
|
||||
6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag*
|
||||
|
||||
The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically.
|
||||
|
||||
The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer.
|
||||
|
||||
|
||||
## Writing
|
||||
Writing involves the following steps:
|
||||
|
||||
1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag.
|
||||
2. Write the message
|
||||
3. Increase the write pointer by the size of the message
|
||||
|
||||
In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message.
|
||||
|
||||
There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1.
|
||||
|
||||
## Reset reader
|
||||
When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed:
|
||||
|
||||
1. Set valid flag
|
||||
2. Set read cycle counter to that of the writer
|
||||
3. Set read pointer to write pointer
|
||||
|
||||
## Reading
|
||||
Reading involves the following steps:
|
||||
|
||||
1. Read the size field at the current read pointer
|
||||
2. Read the validity flag
|
||||
3. Copy the data out of the buffer
|
||||
4. Increase the read pointer by the size of the message
|
||||
5. Check the validity flag again
|
||||
|
||||
Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU.
|
||||
|
||||
If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter.
|
||||
|
||||
If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning.
|
||||
|
||||
If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed.
|
||||
@@ -0,0 +1,14 @@
|
||||
from messaging_pyx import Context, SubSocket, PubSocket # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
if __name__ == "__main__":
|
||||
c = Context()
|
||||
pub_sock = PubSocket()
|
||||
pub_sock.connect(c, "controlsState")
|
||||
|
||||
for i in range(int(1e10)):
|
||||
print(i)
|
||||
sub_sock = SubSocket()
|
||||
sub_sock.connect(c, "controlsState")
|
||||
|
||||
pub_sock.send(b'a')
|
||||
print(sub_sock.receive())
|
||||
@@ -0,0 +1,76 @@
|
||||
/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */
|
||||
#ifndef __SERVICES_H
|
||||
#define __SERVICES_H
|
||||
struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };
|
||||
static struct service services[] = {
|
||||
{ "gyroscope", 8001, true, 104, 104 },
|
||||
{ "gyroscope2", 8002, true, 100, 100 },
|
||||
{ "accelerometer", 8003, true, 104, 104 },
|
||||
{ "accelerometer2", 8004, true, 100, 100 },
|
||||
{ "magnetometer", 8005, true, 100, 100 },
|
||||
{ "lightSensor", 8006, true, 100, 100 },
|
||||
{ "temperatureSensor", 8007, true, 100, 100 },
|
||||
{ "gpsNMEA", 8008, true, 9, -1 },
|
||||
{ "deviceState", 8009, true, 2, 1 },
|
||||
{ "can", 8010, true, 100, -1 },
|
||||
{ "controlsState", 8011, true, 100, 10 },
|
||||
{ "pandaStates", 8012, true, 2, 1 },
|
||||
{ "peripheralState", 8013, true, 2, 1 },
|
||||
{ "radarState", 8014, true, 20, 5 },
|
||||
{ "roadEncodeIdx", 8015, false, 20, 1 },
|
||||
{ "liveTracks", 8016, true, 20, -1 },
|
||||
{ "sendcan", 8017, true, 100, 139 },
|
||||
{ "logMessage", 8018, true, 0, -1 },
|
||||
{ "errorLogMessage", 8019, true, 0, 1 },
|
||||
{ "liveCalibration", 8020, true, 4, 4 },
|
||||
{ "liveTorqueParameters", 8021, true, 4, 1 },
|
||||
{ "androidLog", 8023, true, 0, -1 },
|
||||
{ "carState", 8024, true, 100, 10 },
|
||||
{ "carControl", 8025, true, 100, 10 },
|
||||
{ "longitudinalPlan", 8026, true, 20, 5 },
|
||||
{ "procLog", 8027, true, 0, -1 },
|
||||
{ "gpsLocationExternal", 8028, true, 10, 10 },
|
||||
{ "gpsLocation", 8029, true, 1, 1 },
|
||||
{ "ubloxGnss", 8030, true, 10, -1 },
|
||||
{ "qcomGnss", 8031, true, 2, -1 },
|
||||
{ "gnssMeasurements", 8032, true, 10, 10 },
|
||||
{ "clocks", 8033, true, 1, 1 },
|
||||
{ "ubloxRaw", 8034, true, 20, -1 },
|
||||
{ "liveLocationKalman", 8035, true, 20, 5 },
|
||||
{ "liveParameters", 8036, true, 20, 5 },
|
||||
{ "cameraOdometry", 8037, true, 20, 5 },
|
||||
{ "lateralPlan", 8038, true, 20, 5 },
|
||||
{ "thumbnail", 8039, true, 0, 1 },
|
||||
{ "carEvents", 8040, true, 1, 1 },
|
||||
{ "carParams", 8041, true, 0, 1 },
|
||||
{ "roadCameraState", 8042, true, 20, 20 },
|
||||
{ "driverCameraState", 8043, true, 10, 10 },
|
||||
{ "driverEncodeIdx", 8044, false, 10, 1 },
|
||||
{ "driverStateV2", 8045, true, 20, 10 },
|
||||
{ "driverState", 8046, true, 10, 5 },
|
||||
{ "driverMonitoringState", 8047, true, 10, 5 },
|
||||
{ "wideRoadEncodeIdx", 8048, false, 20, 1 },
|
||||
{ "wideRoadCameraState", 8049, true, 20, 20 },
|
||||
{ "modelV2", 8050, true, 20, 40 },
|
||||
{ "managerState", 8051, true, 2, 1 },
|
||||
{ "uploaderState", 8052, true, 0, 1 },
|
||||
{ "navInstruction", 8053, true, 1, 10 },
|
||||
{ "navRoute", 8054, true, 0, -1 },
|
||||
{ "navThumbnail", 8055, true, 0, -1 },
|
||||
{ "navModel", 8056, true, 2, 4 },
|
||||
{ "mapRenderState", 8057, true, 2, 1 },
|
||||
{ "qRoadEncodeIdx", 8058, false, 20, -1 },
|
||||
{ "userFlag", 8059, true, 0, 1 },
|
||||
{ "microphone", 8060, true, 10, 10 },
|
||||
{ "uiDebug", 8061, true, 0, 1 },
|
||||
{ "testJoystick", 8062, true, 0, -1 },
|
||||
{ "roadEncodeData", 8063, false, 20, -1 },
|
||||
{ "driverEncodeData", 8064, false, 20, -1 },
|
||||
{ "wideRoadEncodeData", 8065, false, 20, -1 },
|
||||
{ "qRoadEncodeData", 8066, false, 20, -1 },
|
||||
{ "dragonConf", 8067, false, 1, -1 },
|
||||
{ "liveMapData", 8068, true, 0, -1 },
|
||||
{ "sensorEvents", 8069, true, 100, 100 },
|
||||
};
|
||||
#endif
|
||||
|
||||
Executable
+119
@@ -0,0 +1,119 @@
|
||||
#!/usr/bin/env python3
|
||||
from typing import Optional
|
||||
|
||||
RESERVED_PORT = 8022 # sshd
|
||||
STARTING_PORT = 8001
|
||||
|
||||
|
||||
def new_port(port: int):
|
||||
port += STARTING_PORT
|
||||
return port + 1 if port >= RESERVED_PORT else port
|
||||
|
||||
|
||||
class Service:
|
||||
def __init__(self, port: int, should_log: bool, frequency: float, decimation: Optional[int] = None):
|
||||
self.port = port
|
||||
self.should_log = should_log
|
||||
self.frequency = frequency
|
||||
self.decimation = decimation
|
||||
|
||||
|
||||
services = {
|
||||
# service: (should_log, frequency, qlog decimation (optional))
|
||||
# note: the "EncodeIdx" packets will still be in the log
|
||||
"gyroscope": (True, 104., 104),
|
||||
"gyroscope2": (True, 100., 100),
|
||||
"accelerometer": (True, 104., 104),
|
||||
"accelerometer2": (True, 100., 100),
|
||||
"magnetometer": (True, 100., 100),
|
||||
"lightSensor": (True, 100., 100),
|
||||
"temperatureSensor": (True, 100., 100),
|
||||
"gpsNMEA": (True, 9.),
|
||||
"deviceState": (True, 2., 1),
|
||||
"can": (True, 100.),
|
||||
"controlsState": (True, 100., 10),
|
||||
"pandaStates": (True, 2., 1),
|
||||
"peripheralState": (True, 2., 1),
|
||||
"radarState": (True, 20., 5),
|
||||
"roadEncodeIdx": (False, 20., 1),
|
||||
"liveTracks": (True, 20.),
|
||||
"sendcan": (True, 100., 139),
|
||||
"logMessage": (True, 0.),
|
||||
"errorLogMessage": (True, 0., 1),
|
||||
"liveCalibration": (True, 4., 4),
|
||||
"liveTorqueParameters": (True, 4., 1),
|
||||
"androidLog": (True, 0.),
|
||||
"carState": (True, 100., 10),
|
||||
"carControl": (True, 100., 10),
|
||||
"longitudinalPlan": (True, 20., 5),
|
||||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"gpsLocation": (True, 1., 1),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"gnssMeasurements": (True, 10., 10),
|
||||
"clocks": (True, 1., 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 5),
|
||||
"liveParameters": (True, 20., 5),
|
||||
"cameraOdometry": (True, 20., 5),
|
||||
"lateralPlan": (True, 20., 5),
|
||||
"thumbnail": (True, 0.2, 1),
|
||||
"carEvents": (True, 1., 1),
|
||||
"carParams": (True, 0.02, 1),
|
||||
"roadCameraState": (True, 20., 20),
|
||||
"driverCameraState": (True, 10., 10),
|
||||
"driverEncodeIdx": (False, 10., 1),
|
||||
"driverStateV2": (True, 20., 10),
|
||||
"driverState": (True, 10, 5),
|
||||
"driverMonitoringState": (True, 10., 5),
|
||||
"wideRoadEncodeIdx": (False, 20., 1),
|
||||
"wideRoadCameraState": (True, 20., 20),
|
||||
"modelV2": (True, 20., 40),
|
||||
"managerState": (True, 2., 1),
|
||||
"uploaderState": (True, 0., 1),
|
||||
"navInstruction": (True, 1., 10),
|
||||
"navRoute": (True, 0.),
|
||||
"navThumbnail": (True, 0.),
|
||||
"navModel": (True, 2., 4.),
|
||||
"mapRenderState": (True, 2., 1.),
|
||||
"qRoadEncodeIdx": (False, 20.),
|
||||
"userFlag": (True, 0., 1),
|
||||
"microphone": (True, 10., 10),
|
||||
|
||||
# debug
|
||||
"uiDebug": (True, 0., 1),
|
||||
"testJoystick": (True, 0.),
|
||||
"roadEncodeData": (False, 20.),
|
||||
"driverEncodeData": (False, 20.),
|
||||
"wideRoadEncodeData": (False, 20.),
|
||||
"qRoadEncodeData": (False, 20.),
|
||||
|
||||
# dp
|
||||
"dragonConf": (False, 1.),
|
||||
"liveMapData": (True, 0.),
|
||||
"sensorEvents": (True, 100., 100),
|
||||
}
|
||||
service_list = {name: Service(new_port(idx), *vals) for # type: ignore
|
||||
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 += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
|
||||
h += "static struct 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 += ' { "%s", %d, %s, %d, %d },\n' % \
|
||||
(k, v.port, should_log, v.frequency, decimation)
|
||||
h += "};\n"
|
||||
h += "#endif\n"
|
||||
return h
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
print(build_header())
|
||||
@@ -0,0 +1,72 @@
|
||||
import re
|
||||
import SCons
|
||||
from SCons.Action import Action
|
||||
from SCons.Scanner import Scanner
|
||||
|
||||
pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
|
||||
pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
|
||||
cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
|
||||
|
||||
|
||||
def pyx_scan(node, env, path, arg=None):
|
||||
contents = node.get_text_contents()
|
||||
|
||||
# from <module> cimport ...
|
||||
matches = pyx_from_import_re.findall(contents)
|
||||
# cimport <module>
|
||||
matches += pyx_import_re.findall(contents)
|
||||
|
||||
# Modules can be either .pxd or .pyx files
|
||||
files = [m.replace('.', '/') + '.pxd' for m in matches]
|
||||
files += [m.replace('.', '/') + '.pyx' for m in matches]
|
||||
|
||||
# cdef extern from <file>
|
||||
files += cdef_import_re.findall(contents)
|
||||
|
||||
# Handle relative imports
|
||||
cur_dir = str(node.get_dir())
|
||||
files = [cur_dir + f if f.startswith('/') else f for f in files]
|
||||
|
||||
# Filter out non-existing files (probably system imports)
|
||||
files = [f for f in files if env.File(f).exists()]
|
||||
return env.File(files)
|
||||
|
||||
|
||||
pyxscanner = Scanner(function=pyx_scan, skeys=['.pyx', '.pxd'], recursive=True)
|
||||
cythonAction = Action("$CYTHONCOM")
|
||||
|
||||
|
||||
def create_builder(env):
|
||||
try:
|
||||
cython = env['BUILDERS']['Cython']
|
||||
except KeyError:
|
||||
cython = SCons.Builder.Builder(
|
||||
action=cythonAction,
|
||||
emitter={},
|
||||
suffix=cython_suffix_emitter,
|
||||
single_source=1
|
||||
)
|
||||
env.Append(SCANNERS=pyxscanner)
|
||||
env['BUILDERS']['Cython'] = cython
|
||||
return cython
|
||||
|
||||
def cython_suffix_emitter(env, source):
|
||||
return "$CYTHONCFILESUFFIX"
|
||||
|
||||
def generate(env):
|
||||
env["CYTHON"] = "cythonize"
|
||||
env["CYTHONCOM"] = "$CYTHON $CYTHONFLAGS $SOURCE"
|
||||
env["CYTHONCFILESUFFIX"] = ".cpp"
|
||||
|
||||
c_file, _ = SCons.Tool.createCFileBuilders(env)
|
||||
|
||||
c_file.suffix['.pyx'] = cython_suffix_emitter
|
||||
c_file.add_action('.pyx', cythonAction)
|
||||
|
||||
c_file.suffix['.py'] = cython_suffix_emitter
|
||||
c_file.add_action('.py', cythonAction)
|
||||
|
||||
create_builder(env)
|
||||
|
||||
def exists(env):
|
||||
return True
|
||||
@@ -0,0 +1,2 @@
|
||||
visionipc_pyx.cpp
|
||||
*.so
|
||||
@@ -0,0 +1,7 @@
|
||||
#pragma once
|
||||
#include <cstddef>
|
||||
|
||||
int ipc_connect(const char* socket_path);
|
||||
int ipc_bind(const char* socket_path);
|
||||
int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
|
||||
int *out_num_fds);
|
||||
@@ -0,0 +1,69 @@
|
||||
#pragma once
|
||||
#include "visionipc.h"
|
||||
|
||||
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#define VISIONBUF_SYNC_FROM_DEVICE 0
|
||||
#define VISIONBUF_SYNC_TO_DEVICE 1
|
||||
|
||||
enum VisionStreamType {
|
||||
VISION_STREAM_RGB_ROAD,
|
||||
VISION_STREAM_RGB_DRIVER,
|
||||
VISION_STREAM_RGB_WIDE_ROAD,
|
||||
|
||||
VISION_STREAM_ROAD,
|
||||
VISION_STREAM_DRIVER,
|
||||
VISION_STREAM_WIDE_ROAD,
|
||||
|
||||
VISION_STREAM_RGB_MAP,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
||||
class VisionBuf {
|
||||
public:
|
||||
size_t len = 0;
|
||||
size_t mmap_len = 0;
|
||||
void * addr = nullptr;
|
||||
uint64_t *frame_id;
|
||||
int fd = 0;
|
||||
|
||||
bool rgb = false;
|
||||
size_t width = 0;
|
||||
size_t height = 0;
|
||||
size_t stride = 0;
|
||||
|
||||
// YUV
|
||||
uint8_t * y = nullptr;
|
||||
uint8_t * u = nullptr;
|
||||
uint8_t * v = nullptr;
|
||||
|
||||
// Visionipc
|
||||
uint64_t server_id = 0;
|
||||
size_t idx = 0;
|
||||
VisionStreamType type;
|
||||
|
||||
// OpenCL
|
||||
cl_mem buf_cl = nullptr;
|
||||
cl_command_queue copy_q = nullptr;
|
||||
|
||||
// ion
|
||||
int handle = 0;
|
||||
|
||||
void allocate(size_t len);
|
||||
void import();
|
||||
void init_cl(cl_device_id device_id, cl_context ctx);
|
||||
void init_rgb(size_t width, size_t height, size_t stride);
|
||||
void init_yuv(size_t width, size_t height);
|
||||
int sync(int dir);
|
||||
int free();
|
||||
|
||||
void set_frame_id(uint64_t id);
|
||||
uint64_t get_frame_id();
|
||||
};
|
||||
|
||||
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
|
||||
@@ -0,0 +1,18 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <cstddef>
|
||||
|
||||
constexpr int VISIONIPC_MAX_FDS = 128;
|
||||
|
||||
struct VisionIpcBufExtra {
|
||||
uint32_t frame_id;
|
||||
uint64_t timestamp_sof;
|
||||
uint64_t timestamp_eof;
|
||||
};
|
||||
|
||||
struct VisionIpcPacket {
|
||||
uint64_t server_id;
|
||||
size_t idx;
|
||||
struct VisionIpcBufExtra extra;
|
||||
};
|
||||
@@ -0,0 +1,39 @@
|
||||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "visionbuf.h":
|
||||
cdef enum VisionStreamType:
|
||||
pass
|
||||
|
||||
cdef cppclass VisionBuf:
|
||||
void * addr
|
||||
size_t len
|
||||
size_t width
|
||||
size_t height
|
||||
size_t stride
|
||||
|
||||
cdef extern from "visionipc.h":
|
||||
struct VisionIpcBufExtra:
|
||||
uint32_t frame_id
|
||||
uint64_t timestamp_sof
|
||||
uint64_t timestamp_eof
|
||||
|
||||
cdef extern from "visionipc_server.h":
|
||||
cdef cppclass VisionIpcServer:
|
||||
VisionIpcServer(string, void*, void*)
|
||||
void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
|
||||
VisionBuf * get_buffer(VisionStreamType)
|
||||
void send(VisionBuf *, VisionIpcBufExtra *, bool)
|
||||
void start_listener()
|
||||
|
||||
cdef extern from "visionipc_client.h":
|
||||
cdef cppclass VisionIpcClient:
|
||||
VisionIpcClient(string, VisionStreamType, bool, void*, void*)
|
||||
VisionBuf * recv(VisionIpcBufExtra *, int)
|
||||
bool connect(bool)
|
||||
bool is_connected()
|
||||
@@ -0,0 +1,33 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/visionipc.h"
|
||||
#include "visionipc/visionbuf.h"
|
||||
|
||||
class VisionIpcClient {
|
||||
private:
|
||||
std::string name;
|
||||
Context * msg_ctx;
|
||||
SubSocket * sock;
|
||||
Poller * poller;
|
||||
|
||||
VisionStreamType type;
|
||||
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
|
||||
void init_msgq(bool conflate);
|
||||
|
||||
public:
|
||||
bool connected = false;
|
||||
int num_buffers = 0;
|
||||
VisionBuf buffers[VISIONIPC_MAX_FDS];
|
||||
VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcClient();
|
||||
VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
|
||||
bool connect(bool blocking=true);
|
||||
bool is_connected() { return connected; }
|
||||
};
|
||||
File diff suppressed because it is too large
Load Diff
Executable
BIN
Binary file not shown.
@@ -0,0 +1,42 @@
|
||||
#pragma once
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <atomic>
|
||||
#include <map>
|
||||
|
||||
#include "messaging/messaging.h"
|
||||
#include "visionipc/visionipc.h"
|
||||
#include "visionipc/visionbuf.h"
|
||||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type);
|
||||
|
||||
class VisionIpcServer {
|
||||
private:
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
uint64_t server_id;
|
||||
|
||||
std::atomic<bool> should_exit = false;
|
||||
std::string name;
|
||||
std::thread listener_thread;
|
||||
|
||||
std::map<VisionStreamType, std::atomic<size_t> > cur_idx;
|
||||
std::map<VisionStreamType, std::vector<VisionBuf*> > buffers;
|
||||
std::map<VisionStreamType, std::map<VisionBuf*, size_t> > idxs;
|
||||
|
||||
Context * msg_ctx;
|
||||
std::map<VisionStreamType, PubSocket*> sockets;
|
||||
|
||||
void listener(void);
|
||||
|
||||
public:
|
||||
VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
|
||||
~VisionIpcServer();
|
||||
|
||||
VisionBuf * get_buffer(VisionStreamType type);
|
||||
|
||||
void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height);
|
||||
void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true);
|
||||
void start_listener();
|
||||
};
|
||||
@@ -0,0 +1 @@
|
||||
*.cpp
|
||||
@@ -0,0 +1,47 @@
|
||||
import jwt
|
||||
import os
|
||||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from system.version import get_version
|
||||
|
||||
from common.params import Params
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') if not Params().get_bool("dp_api_custom") else Params().get("dp_api_custom_url", encoding='utf-8')
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open(PERSIST+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
|
||||
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self, expiry_hours=1):
|
||||
now = datetime.utcnow()
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=expiry_hours)
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
@@ -0,0 +1,11 @@
|
||||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from system.hardware import PC
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
if PC:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
+2804
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,24 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
# Darwin doesn't have a CLOCK_BOOTTIME
|
||||
CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
|
||||
ELSE:
|
||||
from posix.time cimport CLOCK_BOOTTIME
|
||||
|
||||
cdef double readclock(clockid_t clock_id):
|
||||
cdef timespec ts
|
||||
cdef double current
|
||||
|
||||
clock_gettime(clock_id, &ts)
|
||||
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
|
||||
return current
|
||||
|
||||
def monotonic_time():
|
||||
return readclock(CLOCK_MONOTONIC_RAW)
|
||||
|
||||
def sec_since_boot():
|
||||
return readclock(CLOCK_BOOTTIME)
|
||||
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,28 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include <OpenCL/cl.h>
|
||||
#else
|
||||
#include <CL/cl.h>
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
|
||||
#define CL_CHECK(_expr) \
|
||||
do { \
|
||||
assert(CL_SUCCESS == (_expr)); \
|
||||
} while (0)
|
||||
|
||||
#define CL_CHECK_ERR(_expr) \
|
||||
({ \
|
||||
cl_int err = CL_INVALID_VALUE; \
|
||||
__typeof__(_expr) _ret = _expr; \
|
||||
assert(_ret&& err == CL_SUCCESS); \
|
||||
_ret; \
|
||||
})
|
||||
|
||||
cl_device_id cl_get_device_id(cl_device_type device_type);
|
||||
cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
|
||||
cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
|
||||
cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
|
||||
const char* cl_get_error_string(int err);
|
||||
@@ -0,0 +1,19 @@
|
||||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
@@ -0,0 +1,9 @@
|
||||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
@@ -0,0 +1,304 @@
|
||||
#!/usr/bin/env python3.7
|
||||
#pylint: skip-file
|
||||
import os
|
||||
import sys
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
from system.hardware import TICI
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
* conf_type: param, struct
|
||||
* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
|
||||
* update_once: True, False (the param will only load up once, need both param and struct defined)
|
||||
'''
|
||||
confs = [
|
||||
# custom api server
|
||||
{'name': 'dp_api_custom', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_api_custom_url', 'default': 'https://api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_api_custom', 'vals': [True]}], 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_atl', 'default': 0, 'type': 'UInt8', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
|
||||
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_jetson', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
# nav service
|
||||
{'name': 'dp_nav', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_otisserv', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_mapbox_token_pk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_mapbox_token_sk', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_full_screen', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_gmap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_gmap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_amap_enable', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_amap_key', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
|
||||
|
||||
# gpxd
|
||||
{'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
# assign car via param
|
||||
# echo -n TOYOTA C-HR 2021 > /data/params/d/dp_car_assigned
|
||||
{'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
|
||||
# lateral - alc
|
||||
{'name': 'dp_lateral_mode', 'default': 1, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_signal_off_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [0]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_min_mph', 'default': 15, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [1, 2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_min_mph', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 255, 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lc_auto_delay', 'default': 3., 'type': 'Float32', 'min': 0., 'max': 10., 'depends': [{'name': 'dp_lateral_mode', 'vals': [2]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_camera_offset', 'default': 4 if TICI else -6, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_path_offset', 'default': 4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'depends': [{'name': 'dp_lateral_lanelines', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
|
||||
#ui
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_quiet_drive', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead_info', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_laneline', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_chevron', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dm_cam', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
#toyota
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_local_db', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcamd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# # auto shutdown
|
||||
{'name': 'dp_auto_shutdown', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 60, 'type': 'UInt16', 'min': 0, 'max': 600, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
|
||||
{'name': 'dp_mazda_steer_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_mazda_dashcam_bypass', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # service
|
||||
# {'name': 'dp_updated', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_logger', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_athenad', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# {'name': 'dp_uploader', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# # {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_speed_check', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_check', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_vag_resume_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # lat ctrl
|
||||
# {'name': 'dp_lane_less_mode_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_lane_less_mode', 'default': 2, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_lane_less_mode_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# # long ctrl
|
||||
# {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_following_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_following_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lateral_tune', 'default': 0, 'type': 'UInt8', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_torque_live_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_accel_profile_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# # safety
|
||||
# {'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# # UIs
|
||||
# {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_side', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_top', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# # toyota
|
||||
{'name': 'dp_toyota_rav4_tss2_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_prius_bad_angle_tune', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_e2e_conditional', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_at_speed', 'default': 60, 'type': 'UInt8', 'min': 30, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_at_speed_lead', 'default': 40, 'type': 'UInt8', 'min': 0, 'max': 80, 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_adapt_fp', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_adapt_ap', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_e2e_conditional_voacc', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_e2e_conditional', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_no_min_acc_limit', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
|
||||
# # hyundai
|
||||
# {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # honda
|
||||
# {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # volkswagen
|
||||
# # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# #misc
|
||||
# {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
# {'name': 'dp_fan_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 2, 'conf_type': ['param']},
|
||||
# {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_camera_offset', 'default': CAMERA_OFFSET, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_path_offset', 'default': 0 if EON else -4 if TICI else 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
#
|
||||
# {'name': 'dp_reg', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# # sr learner related
|
||||
# {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_sr_custom', 'default': 9.99, 'min': 9.99, 'max': 30., 'type': 'Float32', 'depends': [{'name': 'dp_sr_learner', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# {'name': 'dp_sr_stock', 'default': 9.99, 'min': 9.99, 'max': 100., 'type': 'Float32', 'conf_type': ['param']},
|
||||
#
|
||||
# {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
#
|
||||
# {'name': 'dp_car_assigned', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_no_batt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
# {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
# # no gps is for mr. one's harness + black panda in one solution (without GPS chip)
|
||||
# {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
#
|
||||
# {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_version', 'default': 0, 'min': 0, 'max': 2, 'type': 'UInt8', 'conf_type': ['param']},
|
||||
{'name': 'dp_lateral_steer_rate_cost', 'default': 1.0, 'min': 0.5, 'max': 2.0, 'type': 'Float32', 'conf_type': ['param']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
for conf in confs:
|
||||
if conf['name'] == name:
|
||||
return conf
|
||||
return None
|
||||
|
||||
def to_param_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
type = conf['type'].lower()
|
||||
try:
|
||||
if 'bool' in type:
|
||||
val = '1' if val else '0'
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return str(val)
|
||||
except (ValueError, TypeError):
|
||||
return ''
|
||||
return ''
|
||||
|
||||
def to_struct_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
try:
|
||||
type = conf['type'].lower()
|
||||
if 'bool' in type:
|
||||
val = True if val == '1' else False
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return val
|
||||
except (ValueError, TypeError):
|
||||
return None
|
||||
return None
|
||||
|
||||
'''
|
||||
function to convert param name into struct name.
|
||||
'''
|
||||
def get_struct_name(snake_str):
|
||||
components = snake_str.split('_')
|
||||
# We capitalize the first letter of each component except the first one
|
||||
# with the 'title' method and join them together.
|
||||
return components[0] + ''.join(x.title() for x in components[1:])
|
||||
|
||||
'''
|
||||
function to generate struct for log.capnp
|
||||
'''
|
||||
def gen_log_struct():
|
||||
count = 0
|
||||
str = "# dp\n"
|
||||
str += "struct DragonConf {\n"
|
||||
for conf in confs:
|
||||
name = get_struct_name(conf['name'])
|
||||
if 'struct' in conf['conf_type']:
|
||||
str += f" {name} @{count} :{conf['type']};\n"
|
||||
count += 1
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to generate support car list
|
||||
'''
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict({"cars": []})
|
||||
models = []
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
if car_name != "mock":
|
||||
for attr in attrs:
|
||||
values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
|
||||
if hasattr(values, attr):
|
||||
attr_values = getattr(values, attr)
|
||||
else:
|
||||
continue
|
||||
if isinstance(attr_values, dict):
|
||||
for f, v in attr_values.items():
|
||||
if f not in models:
|
||||
models.append(f)
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
models.sort()
|
||||
cars["cars"] = models
|
||||
return json.dumps(cars)
|
||||
|
||||
'''
|
||||
function to init param value.
|
||||
should add this into manager.py
|
||||
'''
|
||||
def init_params_vals(params):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
if conf['name'] == 'dp_car_list':
|
||||
params.put(conf['name'], get_support_car_list())
|
||||
elif params.get(conf['name']) is None:
|
||||
params.put(conf['name'], to_param_val(conf['name'], conf['default']))
|
||||
|
||||
def gen_params_cc_keys():
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
print(" {\"%s\", PERSISTENT}," % conf['name'])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
if (len(sys.argv) > 1) and sys.argv[1] == 'cc':
|
||||
gen_params_cc_keys()
|
||||
else:
|
||||
gen_log_struct()
|
||||
@@ -0,0 +1,59 @@
|
||||
#!/usr/bin/env python3.7
|
||||
# import subprocess
|
||||
# from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
LAST_MODIFIED = params.get_param_path() + "/dp_last_modified"
|
||||
|
||||
# delay of reading last modified
|
||||
# LAST_MODIFIED_TIMER_THERMALD = 10.
|
||||
LAST_MODIFIED_TIMER_SYSTEMD = 1.
|
||||
# LAST_MODIFIED_TIMER_LANE_PLANNER = 3.
|
||||
# LAST_MODIFIED_TIMER_UPLOADER = 10.
|
||||
|
||||
# def is_online():
|
||||
# try:
|
||||
# return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
# except ProcessLookupError:
|
||||
# return False
|
||||
#
|
||||
# def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
# if enabled:
|
||||
# if dragonconf.dpLateralMode == 0 and blinker_on:
|
||||
# steer_req = 0 if isinstance(steer_req, int) else False
|
||||
# return steer_req
|
||||
#
|
||||
def get_last_modified(delay, old_check, old_modified):
|
||||
new_check = sec_since_boot()
|
||||
if os.path.isfile(LAST_MODIFIED) and (old_check is None or new_check - old_check >= delay):
|
||||
return new_check, os.stat(LAST_MODIFIED).st_mtime
|
||||
else:
|
||||
return old_check, old_modified
|
||||
|
||||
# def param_get_if_updated(param, type, old_val, old_modified):
|
||||
# try:
|
||||
# modified = os.stat(PARAM_PATH + param).st_mtime
|
||||
# except OSError:
|
||||
# return old_val, old_modified
|
||||
# if old_modified != modified:
|
||||
# new_val = param_get(param, type, old_val)
|
||||
# new_modified = modified
|
||||
# else:
|
||||
# new_val = old_val
|
||||
# new_modified = old_modified
|
||||
# return new_val, new_modified
|
||||
|
||||
# def param_get(param_name, type, default):
|
||||
# try:
|
||||
# val = params.get(param_name, encoding='utf8').rstrip('\x00')
|
||||
# if type == 'bool':
|
||||
# val = val == '1'
|
||||
# elif type == 'int':
|
||||
# val = int(val)
|
||||
# elif type == 'float':
|
||||
# val = float(val)
|
||||
# except (TypeError, ValueError):
|
||||
# val = default
|
||||
# return val
|
||||
@@ -0,0 +1,55 @@
|
||||
import os
|
||||
import sys
|
||||
import fcntl
|
||||
import hashlib
|
||||
import platform
|
||||
from cffi import FFI
|
||||
|
||||
def suffix():
|
||||
if platform.system() == "Darwin":
|
||||
return ".dylib"
|
||||
else:
|
||||
return ".so"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
fd = os.open(tmpdir, 0)
|
||||
fcntl.flock(fd, fcntl.LOCK_EX)
|
||||
try:
|
||||
sys.path.append(tmpdir)
|
||||
try:
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print(f"cache miss {cache}")
|
||||
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
return mod.ffi, mod.lib
|
||||
|
||||
|
||||
def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
sys.path.append(directory)
|
||||
mod = __import__(name)
|
||||
return mod.ffi, mod.lib
|
||||
@@ -0,0 +1,113 @@
|
||||
import os
|
||||
import shutil
|
||||
import tempfile
|
||||
from atomicwrites import AtomicWriter
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
if path.startswith('http://') or path.startswith('https://'):
|
||||
raise ValueError('URL path')
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_not_exists_ok(path):
|
||||
try:
|
||||
os.remove(path)
|
||||
except OSError:
|
||||
if os.path.exists(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_tree_or_link(path):
|
||||
if os.path.islink(path):
|
||||
os.unlink(path)
|
||||
elif os.path.isdir(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
if len(parts) > 1 and parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
elif len(parts) > 2 and parts[2] == "runner":
|
||||
return f"/{parts[1]}/runner/tmp"
|
||||
return "/tmp"
|
||||
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
class CallbackReader:
|
||||
"""Wraps a file, but overrides the read method to also
|
||||
call a callback function with the number of bytes read so far."""
|
||||
def __init__(self, f, callback, *args):
|
||||
self.f = f
|
||||
self.callback = callback
|
||||
self.cb_args = args
|
||||
self.total_read = 0
|
||||
|
||||
def __getattr__(self, attr):
|
||||
return getattr(self.f, attr)
|
||||
|
||||
def read(self, *args, **kwargs):
|
||||
chunk = self.f.read(*args, **kwargs)
|
||||
self.total_read += len(chunk)
|
||||
self.callback(*self.cb_args, self.total_read)
|
||||
return chunk
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
return writer.get_fileobject(dir=temp_dir)
|
||||
return _get_fileobject
|
||||
|
||||
def monkeypatch_os_link():
|
||||
# This is neccesary on EON/C2, where os.link is patched out of python
|
||||
if not hasattr(os, 'link'):
|
||||
from cffi import FFI
|
||||
ffi = FFI()
|
||||
ffi.cdef("int link(const char *oldpath, const char *newpath);")
|
||||
libc = ffi.dlopen(None)
|
||||
|
||||
def link(src, dest):
|
||||
return libc.link(src.encode(), dest.encode())
|
||||
os.link = link
|
||||
|
||||
def atomic_write_on_fs_tmp(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in a temporary directory
|
||||
on the same filesystem as path.
|
||||
"""
|
||||
# TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
|
||||
# directory.
|
||||
monkeypatch_os_link()
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in the same directory
|
||||
as the destination file.
|
||||
"""
|
||||
monkeypatch_os_link()
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
@@ -0,0 +1,18 @@
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
self.update_alpha(rc)
|
||||
self.initialized = initialized
|
||||
|
||||
def update_alpha(self, rc):
|
||||
self.alpha = self.dt / (rc + self.dt)
|
||||
|
||||
def update(self, x):
|
||||
if self.initialized:
|
||||
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
||||
else:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
@@ -0,0 +1,33 @@
|
||||
#pragma once
|
||||
|
||||
// Pin definitions
|
||||
#ifdef QCOM2
|
||||
#define GPIO_HUB_RST_N 30
|
||||
#define GPIO_UBLOX_RST_N 32
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 33
|
||||
#define GPIO_UBLOX_PWR_EN 34
|
||||
#define GPIO_STM_RST_N 124
|
||||
#define GPIO_STM_BOOT0 134
|
||||
#define GPIO_BMX_ACCEL_INT 21
|
||||
#define GPIO_BMX_GYRO_INT 23
|
||||
#define GPIO_BMX_MAGN_INT 87
|
||||
#define GPIO_LSM_INT 84
|
||||
#define GPIOCHIP_INT 0
|
||||
#else
|
||||
#define GPIO_HUB_RST_N 0
|
||||
#define GPIO_UBLOX_RST_N 0
|
||||
#define GPIO_UBLOX_SAFEBOOT_N 0
|
||||
#define GPIO_UBLOX_PWR_EN 0
|
||||
#define GPIO_STM_RST_N 0
|
||||
#define GPIO_STM_BOOT0 0
|
||||
#define GPIO_BMX_ACCEL_INT 0
|
||||
#define GPIO_BMX_GYRO_INT 0
|
||||
#define GPIO_BMX_MAGN_INT 0
|
||||
#define GPIO_LSM_INT 0
|
||||
#define GPIOCHIP_INT 0
|
||||
#endif
|
||||
|
||||
int gpio_init(int pin_nr, bool output);
|
||||
int gpio_set(int pin_nr, bool high);
|
||||
|
||||
int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
|
||||
@@ -0,0 +1,25 @@
|
||||
from typing import Optional
|
||||
|
||||
def gpio_init(pin: int, output: bool) -> None:
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
def gpio_set(pin: int, high: bool) -> None:
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
||||
def gpio_read(pin: int) -> Optional[bool]:
|
||||
val = None
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
|
||||
val = bool(int(f.read().strip()))
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
||||
return val
|
||||
@@ -0,0 +1,27 @@
|
||||
import gettext
|
||||
from common.params import Params
|
||||
|
||||
locale_dir = "/data/openpilot/selfdrive/assets/locales"
|
||||
# supported_language = ["en-US", "zh-TW", "zh-CN", "ja-JP", "ko-KR"]
|
||||
supported_languages = {
|
||||
"main_en": "en-US",
|
||||
"main_zh-CHT": "zh-TW",
|
||||
"main_zh-CHS": "zh-CN",
|
||||
"main_ko": "ko-KR",
|
||||
"main_ja": "ja-JP",
|
||||
"main_de": "de-DE",
|
||||
"main_pt-BR": "pt_BR",
|
||||
}
|
||||
|
||||
def events():
|
||||
locale = Params().get("LanguageSetting", encoding='utf8')
|
||||
try:
|
||||
if locale is not None:
|
||||
locale = supported_languages[locale.strip()]
|
||||
else:
|
||||
locale = "en-US"
|
||||
except KeyError:
|
||||
locale = "en-US"
|
||||
i18n = gettext.translation("events", localedir=locale_dir, fallback=True, languages=[locale])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
@@ -0,0 +1,17 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
class I2CBus {
|
||||
private:
|
||||
int i2c_fd;
|
||||
|
||||
public:
|
||||
I2CBus(uint8_t bus_id);
|
||||
~I2CBus();
|
||||
|
||||
int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
|
||||
int set_register(uint8_t device_address, uint register_address, uint8_t data);
|
||||
};
|
||||
@@ -0,0 +1 @@
|
||||
simple_kalman_impl.c
|
||||
@@ -0,0 +1,3 @@
|
||||
# pylint: skip-file
|
||||
from common.kalman.simple_kalman_impl import KF1D as KF1D
|
||||
assert KF1D
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,18 @@
|
||||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
double x1_0
|
||||
double K0_0
|
||||
double K1_0
|
||||
double A0_0
|
||||
double A0_1
|
||||
double A1_0
|
||||
double A1_1
|
||||
double C0_0
|
||||
double C0_1
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
@@ -0,0 +1,37 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x0_0 = x0[0][0]
|
||||
self.x1_0 = x0[1][0]
|
||||
self.A0_0 = A[0][0]
|
||||
self.A0_1 = A[0][1]
|
||||
self.A1_0 = A[1][0]
|
||||
self.A1_1 = A[1][1]
|
||||
self.C0_0 = C[0]
|
||||
self.C0_1 = C[1]
|
||||
self.K0_0 = K[0][0]
|
||||
self.K1_0 = K[1][0]
|
||||
|
||||
self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
|
||||
self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
|
||||
self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
|
||||
self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
|
||||
|
||||
def update(self, meas):
|
||||
cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
|
||||
cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
|
||||
self.x0_0 = x0_0
|
||||
self.x1_0 = x1_0
|
||||
|
||||
return [self.x0_0, self.x1_0]
|
||||
|
||||
@property
|
||||
def x(self):
|
||||
return [[self.x0_0], [self.x1_0]]
|
||||
|
||||
@x.setter
|
||||
def x(self, x):
|
||||
self.x0_0 = x[0][0]
|
||||
self.x1_0 = x[1][0]
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,23 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
class KF1D:
|
||||
# this EKF assumes constant covariance matrix, so calculations are much simpler
|
||||
# the Kalman gain also needs to be precomputed using the control module
|
||||
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = np.atleast_2d(C)
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
# K matrix needs to be pre-computed as follow:
|
||||
# import control
|
||||
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
|
||||
# self.K = np.transpose(K)
|
||||
|
||||
def update(self, meas):
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
|
||||
return self.x
|
||||
@@ -0,0 +1,87 @@
|
||||
import unittest
|
||||
import random
|
||||
import timeit
|
||||
import numpy as np
|
||||
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.kalman.simple_kalman_old import KF1D as KF1D_old
|
||||
|
||||
|
||||
class TestSimpleKalman(unittest.TestCase):
|
||||
def setUp(self):
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
x1_0 = 0.0
|
||||
A0_0 = 1.0
|
||||
A0_1 = dt
|
||||
A1_0 = 0.0
|
||||
A1_1 = 1.0
|
||||
C0_0 = 1.0
|
||||
C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
self.kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
C=[C0_0, C0_1],
|
||||
K=[[K0_0], [K1_0]])
|
||||
|
||||
def test_getter_setter(self):
|
||||
self.kf.x = [[1.0], [1.0]]
|
||||
self.assertEqual(self.kf.x, [[1.0], [1.0]])
|
||||
|
||||
def update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
|
||||
def test_old_equal_new(self):
|
||||
for _ in range(1000):
|
||||
v_wheel = random.uniform(0, 200)
|
||||
|
||||
x_old = self.kf_old.update(v_wheel)
|
||||
x = self.kf.update(v_wheel)
|
||||
|
||||
# Compare the output x, verify that the error is less than 1e-4
|
||||
np.testing.assert_almost_equal(x_old[0], x[0])
|
||||
np.testing.assert_almost_equal(x_old[1], x[1])
|
||||
|
||||
def test_new_is_faster(self):
|
||||
setup = """
|
||||
import numpy as np
|
||||
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.kalman.simple_kalman_old import KF1D as KF1D_old
|
||||
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
x1_0 = 0.0
|
||||
A0_0 = 1.0
|
||||
A0_1 = dt
|
||||
A1_0 = 0.0
|
||||
A1_1 = 1.0
|
||||
C0_0 = 1.0
|
||||
C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
C=[C0_0, C0_1],
|
||||
K=[[K0_0], [K1_0]])
|
||||
"""
|
||||
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
|
||||
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
|
||||
self.assertTrue(kf_speed < kf_old_speed / 4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -0,0 +1,247 @@
|
||||
import io
|
||||
import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import time
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
from threading import local
|
||||
from collections import OrderedDict
|
||||
from contextlib import contextmanager
|
||||
|
||||
LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ
|
||||
|
||||
def json_handler(obj):
|
||||
# if isinstance(obj, (datetime.date, datetime.time)):
|
||||
# return obj.isoformat()
|
||||
return repr(obj)
|
||||
|
||||
def json_robust_dumps(obj):
|
||||
return json.dumps(obj, default=json_handler)
|
||||
|
||||
class NiceOrderedDict(OrderedDict):
|
||||
def __str__(self):
|
||||
return json_robust_dumps(self)
|
||||
|
||||
class SwagFormatter(logging.Formatter):
|
||||
def __init__(self, swaglogger):
|
||||
logging.Formatter.__init__(self, None, '%a %b %d %H:%M:%S %Z %Y')
|
||||
|
||||
self.swaglogger = swaglogger
|
||||
self.host = socket.gethostname()
|
||||
|
||||
def format_dict(self, record):
|
||||
record_dict = NiceOrderedDict()
|
||||
|
||||
if isinstance(record.msg, dict):
|
||||
record_dict['msg'] = record.msg
|
||||
else:
|
||||
try:
|
||||
record_dict['msg'] = record.getMessage()
|
||||
except (ValueError, TypeError):
|
||||
record_dict['msg'] = [record.msg]+record.args
|
||||
|
||||
record_dict['ctx'] = self.swaglogger.get_ctx()
|
||||
|
||||
if record.exc_info:
|
||||
record_dict['exc_info'] = self.formatException(record.exc_info)
|
||||
|
||||
record_dict['level'] = record.levelname
|
||||
record_dict['levelnum'] = record.levelno
|
||||
record_dict['name'] = record.name
|
||||
record_dict['filename'] = record.filename
|
||||
record_dict['lineno'] = record.lineno
|
||||
record_dict['pathname'] = record.pathname
|
||||
record_dict['module'] = record.module
|
||||
record_dict['funcName'] = record.funcName
|
||||
record_dict['host'] = self.host
|
||||
record_dict['process'] = record.process
|
||||
record_dict['thread'] = record.thread
|
||||
record_dict['threadName'] = record.threadName
|
||||
record_dict['created'] = record.created
|
||||
|
||||
return record_dict
|
||||
|
||||
def format(self, record):
|
||||
if self.swaglogger is None:
|
||||
raise Exception("must set swaglogger before calling format()")
|
||||
return json_robust_dumps(self.format_dict(record))
|
||||
|
||||
class SwagLogFileFormatter(SwagFormatter):
|
||||
def fix_kv(self, k, v):
|
||||
# append type to names to preserve legacy naming in logs
|
||||
# avoids overlapping key namespaces with different types
|
||||
# e.g. log.info() creates 'msg' -> 'msg$s'
|
||||
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
|
||||
# because overlapping namespace 'msg' caused problems
|
||||
if isinstance(v, (str, bytes)):
|
||||
k += "$s"
|
||||
elif isinstance(v, float):
|
||||
k += "$f"
|
||||
elif isinstance(v, bool):
|
||||
k += "$b"
|
||||
elif isinstance(v, int):
|
||||
k += "$i"
|
||||
elif isinstance(v, dict):
|
||||
nv = {}
|
||||
for ik, iv in v.items():
|
||||
ik, iv = self.fix_kv(ik, iv)
|
||||
nv[ik] = iv
|
||||
v = nv
|
||||
elif isinstance(v, list):
|
||||
k += "$a"
|
||||
return k, v
|
||||
|
||||
def format(self, record):
|
||||
if isinstance(record, str):
|
||||
v = json.loads(record)
|
||||
else:
|
||||
v = self.format_dict(record)
|
||||
|
||||
mk, mv = self.fix_kv('msg', v['msg'])
|
||||
del v['msg']
|
||||
v[mk] = mv
|
||||
v['id'] = uuid.uuid4().hex
|
||||
|
||||
return json_robust_dumps(v)
|
||||
|
||||
class SwagErrorFilter(logging.Filter):
|
||||
def filter(self, record):
|
||||
return record.levelno < logging.ERROR
|
||||
|
||||
def _tmpfunc():
|
||||
return 0
|
||||
|
||||
def _srcfile():
|
||||
return os.path.normcase(_tmpfunc.__code__.co_filename)
|
||||
|
||||
class SwagLogger(logging.Logger):
|
||||
def __init__(self):
|
||||
logging.Logger.__init__(self, "swaglog")
|
||||
|
||||
self.global_ctx = {}
|
||||
|
||||
self.log_local = local()
|
||||
self.log_local.ctx = {}
|
||||
|
||||
def local_ctx(self):
|
||||
try:
|
||||
return self.log_local.ctx
|
||||
except AttributeError:
|
||||
self.log_local.ctx = {}
|
||||
return self.log_local.ctx
|
||||
|
||||
def get_ctx(self):
|
||||
return dict(self.local_ctx(), **self.global_ctx)
|
||||
|
||||
@contextmanager
|
||||
def ctx(self, **kwargs):
|
||||
old_ctx = self.local_ctx()
|
||||
self.log_local.ctx = copy.copy(old_ctx) or {}
|
||||
self.log_local.ctx.update(kwargs)
|
||||
try:
|
||||
yield
|
||||
finally:
|
||||
self.log_local.ctx = old_ctx
|
||||
|
||||
def bind(self, **kwargs):
|
||||
self.local_ctx().update(kwargs)
|
||||
|
||||
def bind_global(self, **kwargs):
|
||||
self.global_ctx.update(kwargs)
|
||||
|
||||
def event(self, event_name, *args, **kwargs):
|
||||
evt = NiceOrderedDict()
|
||||
evt['event'] = event_name
|
||||
if args:
|
||||
evt['args'] = args
|
||||
evt.update(kwargs)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
elif 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
def timestamp(self, event_name):
|
||||
if LOG_TIMESTAMPS:
|
||||
t = time.monotonic()
|
||||
tstp = NiceOrderedDict()
|
||||
tstp['timestamp'] = NiceOrderedDict()
|
||||
tstp['timestamp']["event"] = event_name
|
||||
tstp['timestamp']["time"] = t*1e9
|
||||
self.debug(tstp)
|
||||
|
||||
def findCaller(self, stack_info=False, stacklevel=1):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
|
||||
if __name__ == "__main__":
|
||||
log = SwagLogger()
|
||||
|
||||
stdout_handler = logging.StreamHandler(sys.stdout)
|
||||
stdout_handler.setLevel(logging.INFO)
|
||||
stdout_handler.addFilter(SwagErrorFilter())
|
||||
log.addHandler(stdout_handler)
|
||||
|
||||
stderr_handler = logging.StreamHandler(sys.stderr)
|
||||
stderr_handler.setLevel(logging.ERROR)
|
||||
log.addHandler(stderr_handler)
|
||||
|
||||
log.info("asdasd %s", "a")
|
||||
log.info({'wut': 1})
|
||||
log.warning("warning")
|
||||
log.error("error")
|
||||
log.critical("critical")
|
||||
log.event("test", x="y")
|
||||
|
||||
with log.ctx():
|
||||
stdout_handler.setFormatter(SwagFormatter(log))
|
||||
stderr_handler.setFormatter(SwagFormatter(log))
|
||||
log.bind(user="some user")
|
||||
log.info("in req")
|
||||
print("")
|
||||
log.warning("warning")
|
||||
print("")
|
||||
log.error("error")
|
||||
print("")
|
||||
log.critical("critical")
|
||||
print("")
|
||||
log.event("do_req", a=1, b="c")
|
||||
@@ -0,0 +1,85 @@
|
||||
#pragma once
|
||||
|
||||
typedef struct vec3 {
|
||||
float v[3];
|
||||
} vec3;
|
||||
|
||||
typedef struct vec4 {
|
||||
float v[4];
|
||||
} vec4;
|
||||
|
||||
typedef struct mat3 {
|
||||
float v[3*3];
|
||||
} mat3;
|
||||
|
||||
typedef struct mat4 {
|
||||
float v[4*4];
|
||||
} mat4;
|
||||
|
||||
static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
|
||||
mat3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<3; k++) {
|
||||
v += a.v[r*3+k] * b.v[k*3+c];
|
||||
}
|
||||
ret.v[r*3+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
|
||||
vec3 ret = {{0.0}};
|
||||
for (int r=0; r<3; r++) {
|
||||
for (int c=0; c<3; c++) {
|
||||
ret.v[r] += a.v[r*3+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline mat4 matmul(const mat4 &a, const mat4 &b) {
|
||||
mat4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
float v = 0.0;
|
||||
for (int k=0; k<4; k++) {
|
||||
v += a.v[r*4+k] * b.v[k*4+c];
|
||||
}
|
||||
ret.v[r*4+c] = v;
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
|
||||
vec4 ret = {{0.0}};
|
||||
for (int r=0; r<4; r++) {
|
||||
for (int c=0; c<4; c++) {
|
||||
ret.v[r] += a.v[r*4+c] * b.v[c];
|
||||
}
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// scales the input and output space of a transformation matrix
|
||||
// that assumes pixel-center origin.
|
||||
static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
|
||||
// in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
|
||||
|
||||
mat3 transform_out = {{
|
||||
1.0f/s, 0.0f, 0.5f,
|
||||
0.0f, 1.0f/s, 0.5f,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
mat3 transform_in = {{
|
||||
s, 0.0f, -0.5f*s,
|
||||
0.0f, s, -0.5f*s,
|
||||
0.0f, 0.0f, 1.0f,
|
||||
}};
|
||||
|
||||
return matmul3(transform_in, matmul3(in, transform_out));
|
||||
}
|
||||
@@ -0,0 +1,57 @@
|
||||
#pragma once
|
||||
|
||||
#include <array>
|
||||
#include "common/mat.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
const int TRAJECTORY_SIZE = 33;
|
||||
const int LAT_MPC_N = 16;
|
||||
const int LON_MPC_N = 32;
|
||||
const float MIN_DRAW_DISTANCE = 10.0;
|
||||
const float MAX_DRAW_DISTANCE = 100.0;
|
||||
|
||||
template <typename T, size_t size>
|
||||
constexpr std::array<T, size> build_idxs(float max_val) {
|
||||
std::array<T, size> result{};
|
||||
for (int i = 0; i < size; ++i) {
|
||||
result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
|
||||
constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
|
||||
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
|
||||
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
|
||||
|
||||
const int TICI_CAM_WIDTH = 1928;
|
||||
|
||||
namespace tici_dm_crop {
|
||||
const int x_offset = -72;
|
||||
const int y_offset = -144;
|
||||
const int width = 954;
|
||||
};
|
||||
|
||||
const mat3 fcam_intrinsic_matrix =
|
||||
Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
|
||||
0., 910., 874.0 / 2,
|
||||
0., 0., 1.}}
|
||||
: (mat3){{2648.0, 0.0, 1928.0 / 2,
|
||||
0.0, 2648.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
// tici ecam focal probably wrong? magnification is not consistent across frame
|
||||
// Need to retrain model before this can be changed
|
||||
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
|
||||
0.0, 567.0, 1208.0 / 2,
|
||||
0.0, 0.0, 1.0}};
|
||||
|
||||
static inline mat3 get_model_yuv_transform(bool bayer = true) {
|
||||
float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
|
||||
const mat3 transform = (mat3){{
|
||||
1.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 1.0
|
||||
}};
|
||||
return bayer ? transform_scale_buffer(transform, db_s) : transform;
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
def clip(x, lo, hi):
|
||||
return max(lo, min(hi, x))
|
||||
|
||||
def interp(x, xp, fp):
|
||||
N = len(xp)
|
||||
|
||||
def get_interp(xv):
|
||||
hi = 0
|
||||
while hi < N and xv > xp[hi]:
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
return fp[-1] if hi == N and xv > xp[low] else (
|
||||
fp[0] if hi == 0 else
|
||||
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
|
||||
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
|
||||
|
||||
def mean(x):
|
||||
return sum(x) / len(x)
|
||||
@@ -0,0 +1,49 @@
|
||||
#pragma once
|
||||
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
enum ParamKeyType {
|
||||
PERSISTENT = 0x02,
|
||||
CLEAR_ON_MANAGER_START = 0x04,
|
||||
CLEAR_ON_IGNITION_ON = 0x08,
|
||||
CLEAR_ON_IGNITION_OFF = 0x10,
|
||||
DONT_LOG = 0x20,
|
||||
ALL = 0xFFFFFFFF
|
||||
};
|
||||
|
||||
class Params {
|
||||
public:
|
||||
Params(const std::string &path = {});
|
||||
std::vector<std::string> allKeys() const;
|
||||
bool checkKey(const std::string &key);
|
||||
ParamKeyType getKeyType(const std::string &key);
|
||||
inline std::string getParamPath(const std::string &key = {}) {
|
||||
return params_path + prefix + (key.empty() ? "" : "/" + key);
|
||||
}
|
||||
|
||||
// Delete a value
|
||||
int remove(const std::string &key);
|
||||
void clearAll(ParamKeyType type);
|
||||
|
||||
// helpers for reading values
|
||||
std::string get(const std::string &key, bool block = false);
|
||||
inline bool getBool(const std::string &key, bool block = false) {
|
||||
return get(key, block) == "1";
|
||||
}
|
||||
std::map<std::string, std::string> readAll();
|
||||
|
||||
// helpers for writing values
|
||||
int put(const char *key, const char *val, size_t value_size);
|
||||
inline int put(const std::string &key, const std::string &val) {
|
||||
return put(key.c_str(), val.data(), val.size());
|
||||
}
|
||||
inline int putBool(const std::string &key, bool val) {
|
||||
return put(key.c_str(), val ? "1" : "0", 1);
|
||||
}
|
||||
|
||||
private:
|
||||
std::string params_path;
|
||||
std::string prefix;
|
||||
};
|
||||
@@ -0,0 +1,20 @@
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
assert put_bool_nonblocking
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
|
||||
params = Params()
|
||||
key = sys.argv[1]
|
||||
assert params.check_key(key), f"unknown param: {key}"
|
||||
|
||||
if len(sys.argv) == 3:
|
||||
val = sys.argv[2]
|
||||
print(f"SET: {key} = {val}")
|
||||
params.put(key, val)
|
||||
elif len(sys.argv) == 2:
|
||||
print(f"GET: {key} = {params.get(key)}")
|
||||
+11552
File diff suppressed because it is too large
Load Diff
Executable
+111
@@ -0,0 +1,111 @@
|
||||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
import threading
|
||||
|
||||
cdef extern from "common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_IGNITION_ON
|
||||
CLEAR_ON_IGNITION_OFF
|
||||
ALL
|
||||
|
||||
cdef cppclass c_Params "Params":
|
||||
c_Params(string) nogil
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string, bool) nogil
|
||||
int remove(string) nogil
|
||||
int put(string, string) nogil
|
||||
int putBool(string, bool) nogil
|
||||
bool checkKey(string) nogil
|
||||
string getParamPath(string) nogil
|
||||
void clearAll(ParamKeyType)
|
||||
vector[string] allKeys()
|
||||
|
||||
|
||||
def ensure_bytes(v):
|
||||
return v.encode() if isinstance(v, str) else v;
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=""):
|
||||
cdef string path = <string>d.encode()
|
||||
with nogil:
|
||||
self.p = new c_Params(path)
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=ParamKeyType.ALL):
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
return key
|
||||
|
||||
def get(self, key, bool block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, block)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
return val if encoding is None else val.decode(encoding)
|
||||
|
||||
def get_bool(self, key, bool block=False):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool r
|
||||
with nogil:
|
||||
r = self.p.getBool(k, block)
|
||||
return r
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
cdef string dat_bytes = ensure_bytes(dat)
|
||||
with nogil:
|
||||
self.p.put(k, dat_bytes)
|
||||
|
||||
def put_bool(self, key, bool val):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def remove(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
with nogil:
|
||||
self.p.remove(k)
|
||||
|
||||
def get_param_path(self, key=""):
|
||||
cdef string key_bytes = ensure_bytes(key)
|
||||
return self.p.getParamPath(key_bytes).decode("utf-8")
|
||||
|
||||
def all_keys(self):
|
||||
return self.p.allKeys()
|
||||
|
||||
def put_nonblocking(key, val, d=""):
|
||||
threading.Thread(target=lambda: Params(d).put(key, val)).start()
|
||||
|
||||
def put_bool_nonblocking(key, bool val, d=""):
|
||||
threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
|
||||
Executable
BIN
Binary file not shown.
@@ -0,0 +1,34 @@
|
||||
#pragma once
|
||||
|
||||
#include <cassert>
|
||||
#include <string>
|
||||
|
||||
#include "common/params.h"
|
||||
#include "common/util.h"
|
||||
|
||||
class OpenpilotPrefix {
|
||||
public:
|
||||
OpenpilotPrefix(std::string prefix = {}) {
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = "/dev/shm/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
}
|
||||
|
||||
~OpenpilotPrefix() {
|
||||
auto param_path = Params().getParamPath();
|
||||
if (util::file_exists(param_path)) {
|
||||
std::string real_path = util::readlink(param_path);
|
||||
system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
|
||||
unlink(param_path.c_str());
|
||||
}
|
||||
system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
|
||||
unsetenv("OPENPILOT_PREFIX");
|
||||
}
|
||||
|
||||
private:
|
||||
std::string msgq_path;
|
||||
};
|
||||
@@ -0,0 +1,45 @@
|
||||
import time
|
||||
|
||||
class Profiler():
|
||||
def __init__(self, enabled=False):
|
||||
self.enabled = enabled
|
||||
self.cp = {}
|
||||
self.cp_ignored = []
|
||||
self.iter = 0
|
||||
self.start_time = time.time()
|
||||
self.last_time = self.start_time
|
||||
self.tot = 0.
|
||||
|
||||
def reset(self, enabled=False):
|
||||
self.enabled = enabled
|
||||
self.cp = {}
|
||||
self.cp_ignored = []
|
||||
self.iter = 0
|
||||
self.start_time = time.time()
|
||||
self.last_time = self.start_time
|
||||
|
||||
def checkpoint(self, name, ignore=False):
|
||||
# ignore flag needed when benchmarking threads with ratekeeper
|
||||
if not self.enabled:
|
||||
return
|
||||
tt = time.time()
|
||||
if name not in self.cp:
|
||||
self.cp[name] = 0.
|
||||
if ignore:
|
||||
self.cp_ignored.append(name)
|
||||
self.cp[name] += tt - self.last_time
|
||||
if not ignore:
|
||||
self.tot += tt - self.last_time
|
||||
self.last_time = tt
|
||||
|
||||
def display(self):
|
||||
if not self.enabled:
|
||||
return
|
||||
self.iter += 1
|
||||
print("******* Profiling %d *******" % self.iter)
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
else:
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}")
|
||||
@@ -0,0 +1,52 @@
|
||||
#pragma once
|
||||
|
||||
#include <condition_variable>
|
||||
#include <mutex>
|
||||
#include <queue>
|
||||
|
||||
template <class T>
|
||||
class SafeQueue {
|
||||
public:
|
||||
SafeQueue() = default;
|
||||
|
||||
void push(const T& v) {
|
||||
{
|
||||
std::unique_lock lk(m);
|
||||
q.push(v);
|
||||
}
|
||||
cv.notify_one();
|
||||
}
|
||||
|
||||
T pop() {
|
||||
std::unique_lock lk(m);
|
||||
cv.wait(lk, [this] { return !q.empty(); });
|
||||
T v = q.front();
|
||||
q.pop();
|
||||
return v;
|
||||
}
|
||||
|
||||
bool try_pop(T& v, int timeout_ms = 0) {
|
||||
std::unique_lock lk(m);
|
||||
if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) {
|
||||
return false;
|
||||
}
|
||||
v = q.front();
|
||||
q.pop();
|
||||
return true;
|
||||
}
|
||||
|
||||
bool empty() const {
|
||||
std::scoped_lock lk(m);
|
||||
return q.empty();
|
||||
}
|
||||
|
||||
size_t size() const {
|
||||
std::scoped_lock lk(m);
|
||||
return q.size();
|
||||
}
|
||||
|
||||
private:
|
||||
mutable std::mutex m;
|
||||
std::condition_variable cv;
|
||||
std::queue<T> q;
|
||||
};
|
||||
@@ -0,0 +1,96 @@
|
||||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
from collections import deque
|
||||
from typing import Optional, List, Union
|
||||
|
||||
from setproctitle import getproctitle # pylint: disable=no-name-in-module
|
||||
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from system.hardware import PC, TICI
|
||||
|
||||
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
DT_DMON = 0.1 # driver monitoring
|
||||
|
||||
|
||||
class Priority:
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level: int) -> None:
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # pylint: disable=no-member
|
||||
|
||||
|
||||
def set_core_affinity(cores: List[int]) -> None:
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, cores) # pylint: disable=no-member
|
||||
|
||||
|
||||
def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
c = cores if isinstance(cores, list) else [cores, ]
|
||||
set_core_affinity(c)
|
||||
|
||||
|
||||
class Ratekeeper:
|
||||
def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
|
||||
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
|
||||
self._interval = 1. / rate
|
||||
self._next_frame_time = sec_since_boot() + self._interval
|
||||
self._print_delay_threshold = print_delay_threshold
|
||||
self._frame = 0
|
||||
self._remaining = 0.0
|
||||
self._process_name = getproctitle()
|
||||
self._dts = deque([self._interval], maxlen=100)
|
||||
self._last_monitor_time = sec_since_boot()
|
||||
|
||||
@property
|
||||
def frame(self) -> int:
|
||||
return self._frame
|
||||
|
||||
@property
|
||||
def remaining(self) -> float:
|
||||
return self._remaining
|
||||
|
||||
@property
|
||||
def lagging(self) -> bool:
|
||||
avg_dt = sum(self._dts) / len(self._dts)
|
||||
expected_dt = self._interval * (1 / 0.9)
|
||||
return avg_dt > expected_dt
|
||||
|
||||
# Maintain loop rate by calling this at the end of each loop
|
||||
def keep_time(self) -> bool:
|
||||
lagged = self.monitor_time()
|
||||
if self._remaining > 0:
|
||||
time.sleep(self._remaining)
|
||||
return lagged
|
||||
|
||||
# this only monitor the cumulative lag, but does not enforce a rate
|
||||
def monitor_time(self) -> bool:
|
||||
prev = self._last_monitor_time
|
||||
self._last_monitor_time = sec_since_boot()
|
||||
self._dts.append(self._last_monitor_time - prev)
|
||||
|
||||
lagged = False
|
||||
remaining = self._next_frame_time - sec_since_boot()
|
||||
self._next_frame_time += self._interval
|
||||
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
|
||||
print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
|
||||
lagged = True
|
||||
self._frame += 1
|
||||
self._remaining = remaining
|
||||
return lagged
|
||||
@@ -0,0 +1,52 @@
|
||||
import os
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner():
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
self.spinner_proc.stdin.flush()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: float, total: float):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
try:
|
||||
self.spinner_proc.stdin.close()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
self.spinner_proc.terminate()
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
@@ -0,0 +1,73 @@
|
||||
import numpy as np
|
||||
|
||||
class RunningStat():
|
||||
# tracks realtime mean and standard deviation without storing any data
|
||||
def __init__(self, priors=None, max_trackable=-1):
|
||||
self.max_trackable = max_trackable
|
||||
if priors is not None:
|
||||
# initialize from history
|
||||
self.M = priors[0]
|
||||
self.S = priors[1]
|
||||
self.n = priors[2]
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
else:
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.M = 0.
|
||||
self.S = 0.
|
||||
self.M_last = 0.
|
||||
self.S_last = 0.
|
||||
self.n = 0
|
||||
|
||||
def push_data(self, new_data):
|
||||
# short term memory hack
|
||||
if self.max_trackable < 0 or self.n < self.max_trackable:
|
||||
self.n += 1
|
||||
if self.n == 0:
|
||||
self.M_last = new_data
|
||||
self.M = self.M_last
|
||||
self.S_last = 0.
|
||||
else:
|
||||
self.M = self.M_last + (new_data - self.M_last) / self.n
|
||||
self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
def mean(self):
|
||||
return self.M
|
||||
|
||||
def variance(self):
|
||||
if self.n >= 2:
|
||||
return self.S / (self.n - 1.)
|
||||
else:
|
||||
return 0
|
||||
|
||||
def std(self):
|
||||
return np.sqrt(self.variance())
|
||||
|
||||
def params_to_save(self):
|
||||
return [self.M, self.S, self.n]
|
||||
|
||||
class RunningStatFilter():
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, -1)
|
||||
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
|
||||
|
||||
def reset(self):
|
||||
self.raw_stat.reset()
|
||||
self.filtered_stat.reset()
|
||||
|
||||
def push_and_update(self, new_data):
|
||||
_std_last = self.raw_stat.std()
|
||||
self.raw_stat.push_data(new_data)
|
||||
_delta_std = self.raw_stat.std() - _std_last
|
||||
if _delta_std <= 0:
|
||||
self.filtered_stat.push_data(new_data)
|
||||
else:
|
||||
pass
|
||||
# self.filtered_stat.push_data(self.filtered_stat.mean())
|
||||
|
||||
# class SequentialBayesian():
|
||||
@@ -0,0 +1,10 @@
|
||||
#pragma once
|
||||
|
||||
#define STATLOG_GAUGE "g"
|
||||
#define STATLOG_SAMPLE "sa"
|
||||
|
||||
void statlog_log(const char* metric_type, const char* metric, int value);
|
||||
void statlog_log(const char* metric_type, const char* metric, float value);
|
||||
|
||||
#define statlog_gauge(metric, value) statlog_log(STATLOG_GAUGE, metric, value)
|
||||
#define statlog_sample(metric, value) statlog_log(STATLOG_SAMPLE, metric, value)
|
||||
@@ -0,0 +1,70 @@
|
||||
#pragma once
|
||||
|
||||
#include "common/timing.h"
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
#define CLOUDLOG_INFO 20
|
||||
#define CLOUDLOG_WARNING 30
|
||||
#define CLOUDLOG_ERROR 40
|
||||
#define CLOUDLOG_CRITICAL 50
|
||||
|
||||
|
||||
void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
|
||||
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
|
||||
|
||||
void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
|
||||
uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
|
||||
|
||||
|
||||
#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
|
||||
__func__, \
|
||||
fmt, ## __VA_ARGS__);
|
||||
|
||||
#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
|
||||
__func__, \
|
||||
__VA_ARGS__);
|
||||
|
||||
|
||||
#define cloudlog_rl(burst, millis, lvl, fmt, ...) \
|
||||
{ \
|
||||
static uint64_t __begin = 0; \
|
||||
static int __printed = 0; \
|
||||
static int __missed = 0; \
|
||||
\
|
||||
int __burst = (burst); \
|
||||
int __millis = (millis); \
|
||||
uint64_t __ts = nanos_since_boot(); \
|
||||
\
|
||||
if (!__begin) __begin = __ts; \
|
||||
\
|
||||
if (__begin + __millis*1000000ULL < __ts) { \
|
||||
if (__missed) { \
|
||||
cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages suppressed", __missed); \
|
||||
} \
|
||||
__begin = 0; \
|
||||
__printed = 0; \
|
||||
__missed = 0; \
|
||||
} \
|
||||
\
|
||||
if (__printed < __burst) { \
|
||||
cloudlog(lvl, fmt, ## __VA_ARGS__); \
|
||||
__printed++; \
|
||||
} else { \
|
||||
__missed++; \
|
||||
} \
|
||||
}
|
||||
|
||||
|
||||
#define LOGT(...) cloudlog_t(CLOUDLOG_DEBUG, __VA_ARGS__)
|
||||
#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
|
||||
#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
|
||||
#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
|
||||
#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
|
||||
|
||||
#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__)
|
||||
#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__)
|
||||
#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__)
|
||||
#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__)
|
||||
Executable
+63
@@ -0,0 +1,63 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import time
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class TextWindow:
|
||||
def __init__(self, text):
|
||||
try:
|
||||
self.text_proc = subprocess.Popen(["./text", text],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.text_proc = None
|
||||
|
||||
def get_status(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.poll()
|
||||
return self.text_proc.returncode
|
||||
return None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def close(self):
|
||||
if self.text_proc is not None:
|
||||
self.text_proc.terminate()
|
||||
self.text_proc = None
|
||||
|
||||
def wait_for_exit(self):
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
text = """Traceback (most recent call last):
|
||||
File "./controlsd.py", line 608, in <module>
|
||||
main()
|
||||
File "./controlsd.py", line 604, in main
|
||||
controlsd_thread(sm, pm, logcan)
|
||||
File "./controlsd.py", line 455, in controlsd_thread
|
||||
1/0
|
||||
ZeroDivisionError: division by zero"""
|
||||
print(text)
|
||||
|
||||
with TextWindow(text) as s:
|
||||
for _ in range(100):
|
||||
if s.get_status() == 1:
|
||||
print("Got exit button")
|
||||
break
|
||||
time.sleep(0.1)
|
||||
print("gone")
|
||||
@@ -0,0 +1,27 @@
|
||||
import signal
|
||||
|
||||
class TimeoutException(Exception):
|
||||
pass
|
||||
|
||||
class Timeout:
|
||||
"""
|
||||
Timeout context manager.
|
||||
For example this code will raise a TimeoutException:
|
||||
with Timeout(seconds=5, error_msg="Sleep was too long"):
|
||||
time.sleep(10)
|
||||
"""
|
||||
def __init__(self, seconds, error_msg=None):
|
||||
if error_msg is None:
|
||||
error_msg = f'Timed out after {seconds} seconds'
|
||||
self.seconds = seconds
|
||||
self.error_msg = error_msg
|
||||
|
||||
def handle_timeout(self, signume, frame):
|
||||
raise TimeoutException(self.error_msg)
|
||||
|
||||
def __enter__(self):
|
||||
signal.signal(signal.SIGALRM, self.handle_timeout)
|
||||
signal.alarm(self.seconds)
|
||||
|
||||
def __exit__(self, exc_type, exc_val, exc_tb):
|
||||
signal.alarm(0)
|
||||
@@ -0,0 +1,51 @@
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
#include <ctime>
|
||||
|
||||
#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 inline double millis_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
|
||||
}
|
||||
|
||||
static inline double seconds_since_boot() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_BOOTTIME, &t);
|
||||
return (double)t.tv_sec + t.tv_nsec * 1e-9;
|
||||
}
|
||||
|
||||
static inline uint64_t nanos_since_epoch() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_REALTIME, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static inline double seconds_since_epoch() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_REALTIME, &t);
|
||||
return (double)t.tv_sec + t.tv_nsec * 1e-9;
|
||||
}
|
||||
|
||||
// you probably should use nanos_since_boot instead
|
||||
static inline uint64_t nanos_monotonic() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_MONOTONIC, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
|
||||
static inline uint64_t nanos_monotonic_raw() {
|
||||
struct timespec t;
|
||||
clock_gettime(CLOCK_MONOTONIC_RAW, &t);
|
||||
return t.tv_sec * 1000000000ULL + t.tv_nsec;
|
||||
}
|
||||
@@ -0,0 +1,173 @@
|
||||
import numpy as np
|
||||
|
||||
import common.transformations.orientation as orient
|
||||
from system.hardware import TICI
|
||||
|
||||
## -- hardcoded hardware params --
|
||||
eon_f_focal_length = 910.0
|
||||
eon_d_focal_length = 860.0
|
||||
leon_d_focal_length = 650.0
|
||||
tici_f_focal_length = 2648.0
|
||||
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
|
||||
|
||||
eon_f_frame_size = (1164, 874)
|
||||
eon_d_frame_size = (1152, 864)
|
||||
leon_d_frame_size = (816, 612)
|
||||
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
|
||||
|
||||
# aka 'K' aka camera_frame_from_view_frame
|
||||
eon_fcam_intrinsics = np.array([
|
||||
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
|
||||
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
eon_intrinsics = eon_fcam_intrinsics # xx
|
||||
|
||||
leon_dcam_intrinsics = np.array([
|
||||
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
|
||||
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
eon_dcam_intrinsics = np.array([
|
||||
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
|
||||
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_fcam_intrinsics = np.array([
|
||||
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
|
||||
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_dcam_intrinsics = np.array([
|
||||
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
|
||||
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
tici_ecam_intrinsics = tici_dcam_intrinsics
|
||||
|
||||
# aka 'K_inv' aka view_frame_from_camera_frame
|
||||
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
|
||||
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
|
||||
|
||||
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
|
||||
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
|
||||
|
||||
|
||||
if not TICI:
|
||||
FULL_FRAME_SIZE = eon_f_frame_size
|
||||
FOCAL = eon_f_focal_length
|
||||
fcam_intrinsics = eon_fcam_intrinsics
|
||||
else:
|
||||
FULL_FRAME_SIZE = tici_f_frame_size
|
||||
FOCAL = tici_f_focal_length
|
||||
fcam_intrinsics = tici_fcam_intrinsics
|
||||
|
||||
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
|
||||
|
||||
|
||||
# device/mesh : x->forward, y-> right, z->down
|
||||
# view : x->right, y->down, z->forward
|
||||
device_frame_from_view_frame = np.array([
|
||||
[ 0., 0., 1.],
|
||||
[ 1., 0., 0.],
|
||||
[ 0., 1., 0.]
|
||||
])
|
||||
view_frame_from_device_frame = device_frame_from_view_frame.T
|
||||
|
||||
|
||||
def get_calib_from_vp(vp):
|
||||
vp_norm = normalize(vp)
|
||||
yaw_calib = np.arctan(vp_norm[0])
|
||||
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
|
||||
roll_calib = 0
|
||||
return roll_calib, pitch_calib, yaw_calib
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
# road : x->forward, y -> left, z->up
|
||||
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
|
||||
view_from_road = view_frame_from_device_frame.dot(device_from_road)
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
|
||||
|
||||
# aka 'extrinsic_matrix'
|
||||
def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
|
||||
device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
|
||||
view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
|
||||
return np.hstack((view_from_calib, [[0], [height], [0]]))
|
||||
|
||||
|
||||
def vp_from_ke(m):
|
||||
"""
|
||||
Computes the vanishing point from the product of the intrinsic and extrinsic
|
||||
matrices C = KE.
|
||||
|
||||
The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
|
||||
"""
|
||||
return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
|
||||
|
||||
|
||||
def roll_from_ke(m):
|
||||
# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
|
||||
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
|
||||
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
|
||||
|
||||
|
||||
def normalize(img_pts, intrinsics=fcam_intrinsics):
|
||||
# normalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
intrinsics_inv = np.linalg.inv(intrinsics)
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1))))
|
||||
img_pts_normalized = img_pts.dot(intrinsics_inv.T)
|
||||
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
|
||||
return img_pts_normalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
|
||||
# denormalizes image coordinates
|
||||
# accepts single pt or array of pts
|
||||
img_pts = np.array(img_pts)
|
||||
input_shape = img_pts.shape
|
||||
img_pts = np.atleast_2d(img_pts)
|
||||
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
|
||||
img_pts_denormalized = img_pts.dot(intrinsics.T)
|
||||
if np.isfinite(width):
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
|
||||
if np.isfinite(height):
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
|
||||
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
|
||||
return img_pts_denormalized[:, :2].reshape(input_shape)
|
||||
|
||||
|
||||
def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
|
||||
# device from ecef frame
|
||||
# device frame is x -> forward, y-> right, z -> down
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_ecef.shape
|
||||
pt_ecef = np.atleast_2d(pt_ecef)
|
||||
ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
|
||||
device_from_ecef_rot = ecef_from_device_rot.T
|
||||
pt_ecef_rel = pt_ecef - pos_ecef
|
||||
pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
|
||||
return pt_device.reshape(input_shape)
|
||||
|
||||
|
||||
def img_from_device(pt_device):
|
||||
# img coordinates from pts in device frame
|
||||
# first transforms to view frame, then to img coords
|
||||
# accepts single pt or array of pts
|
||||
input_shape = pt_device.shape
|
||||
pt_device = np.atleast_2d(pt_device)
|
||||
pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
|
||||
|
||||
# This function should never return negative depths
|
||||
pt_view[pt_view[:, 2] < 0] = np.nan
|
||||
|
||||
pt_img = pt_view/pt_view[:, 2:3]
|
||||
return pt_img.reshape(input_shape)[:, :2]
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
#pragma once
|
||||
|
||||
#define DEG2RAD(x) ((x) * M_PI / 180.0)
|
||||
#define RAD2DEG(x) ((x) * 180.0 / M_PI)
|
||||
|
||||
struct ECEF {
|
||||
double x, y, z;
|
||||
Eigen::Vector3d to_vector(){
|
||||
return Eigen::Vector3d(x, y, z);
|
||||
}
|
||||
};
|
||||
|
||||
struct NED {
|
||||
double n, e, d;
|
||||
Eigen::Vector3d to_vector(){
|
||||
return Eigen::Vector3d(n, e, d);
|
||||
}
|
||||
};
|
||||
|
||||
struct Geodetic {
|
||||
double lat, lon, alt;
|
||||
bool radians=false;
|
||||
};
|
||||
|
||||
ECEF geodetic2ecef(Geodetic g);
|
||||
Geodetic ecef2geodetic(ECEF e);
|
||||
|
||||
class LocalCoord {
|
||||
public:
|
||||
Eigen::Matrix3d ned2ecef_matrix;
|
||||
Eigen::Matrix3d ecef2ned_matrix;
|
||||
Eigen::Vector3d init_ecef;
|
||||
LocalCoord(Geodetic g, ECEF e);
|
||||
LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {}
|
||||
LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {}
|
||||
|
||||
NED ecef2ned(ECEF e);
|
||||
ECEF ned2ecef(NED n);
|
||||
NED geodetic2ned(Geodetic g);
|
||||
Geodetic ned2geodetic(NED n);
|
||||
};
|
||||
@@ -0,0 +1,19 @@
|
||||
# pylint: skip-file
|
||||
from common.transformations.orientation import numpy_wrap
|
||||
from common.transformations.transformations import (ecef2geodetic_single,
|
||||
geodetic2ecef_single)
|
||||
from common.transformations.transformations import LocalCoord as LocalCoord_single
|
||||
|
||||
|
||||
class LocalCoord(LocalCoord_single):
|
||||
ecef2ned = numpy_wrap(LocalCoord_single.ecef2ned_single, (3,), (3,))
|
||||
ned2ecef = numpy_wrap(LocalCoord_single.ned2ecef_single, (3,), (3,))
|
||||
geodetic2ned = numpy_wrap(LocalCoord_single.geodetic2ned_single, (3,), (3,))
|
||||
ned2geodetic = numpy_wrap(LocalCoord_single.ned2geodetic_single, (3,), (3,))
|
||||
|
||||
|
||||
geodetic2ecef = numpy_wrap(geodetic2ecef_single, (3,), (3,))
|
||||
ecef2geodetic = numpy_wrap(ecef2geodetic_single, (3,), (3,))
|
||||
|
||||
geodetic_from_ecef = ecef2geodetic
|
||||
ecef_from_geodetic = geodetic2ecef
|
||||
@@ -0,0 +1,117 @@
|
||||
import numpy as np
|
||||
|
||||
from common.transformations.camera import (FULL_FRAME_SIZE,
|
||||
get_view_frame_from_calib_frame)
|
||||
|
||||
# segnet
|
||||
SEGNET_SIZE = (512, 384)
|
||||
|
||||
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
|
||||
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
|
||||
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
|
||||
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
|
||||
|
||||
|
||||
# MED model
|
||||
MEDMODEL_INPUT_SIZE = (512, 256)
|
||||
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
MEDMODEL_CY = 47.6
|
||||
|
||||
medmodel_fl = 910.0
|
||||
medmodel_intrinsics = np.array([
|
||||
[medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
|
||||
[0.0, medmodel_fl, MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# BIG model
|
||||
BIGMODEL_INPUT_SIZE = (1024, 512)
|
||||
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
bigmodel_fl = 910.0
|
||||
bigmodel_intrinsics = np.array([
|
||||
[bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, bigmodel_fl, 256 + MEDMODEL_CY],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
|
||||
# SBIG model (big model with the size of small model)
|
||||
SBIGMODEL_INPUT_SIZE = (512, 256)
|
||||
SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2)
|
||||
|
||||
sbigmodel_fl = 455.0
|
||||
sbigmodel_intrinsics = np.array([
|
||||
[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]],
|
||||
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
|
||||
[0.0, 0.0, 1.0]])
|
||||
|
||||
bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
|
||||
sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
|
||||
|
||||
|
||||
### This function mimics the update_calibration logic in modeld.cc
|
||||
### Manually verified to give similar results to xx.uncommon.utils.transform_img
|
||||
def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
|
||||
from common.transformations.orientation import rot_from_euler
|
||||
from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
|
||||
|
||||
if tici and wide_cam:
|
||||
intrinsics = tici_ecam_intrinsics
|
||||
elif tici:
|
||||
intrinsics = tici_fcam_intrinsics
|
||||
else:
|
||||
intrinsics = eon_fcam_intrinsics
|
||||
|
||||
if big_model:
|
||||
sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
|
||||
calib_from_model = np.linalg.inv(sbigmodel_from_calib)
|
||||
else:
|
||||
medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
|
||||
calib_from_model = np.linalg.inv(medmodel_from_calib)
|
||||
device_from_calib = rot_from_euler(rpy_calib)
|
||||
camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
|
||||
warp_matrix = camera_from_calib.dot(calib_from_model)
|
||||
return warp_matrix
|
||||
|
||||
|
||||
### This is old, just for debugging
|
||||
def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
|
||||
from common.transformations.orientation import rot_from_euler
|
||||
from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
|
||||
|
||||
|
||||
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
|
||||
device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
|
||||
view_from_road = view_frame_from_device_frame.dot(device_from_road)
|
||||
return np.hstack((view_from_road, [[0], [height], [0]]))
|
||||
|
||||
if tici and wide_cam:
|
||||
intrinsics = tici_ecam_intrinsics
|
||||
elif tici:
|
||||
intrinsics = tici_fcam_intrinsics
|
||||
else:
|
||||
intrinsics = eon_fcam_intrinsics
|
||||
|
||||
model_height = 1.22
|
||||
if big_model:
|
||||
model_from_road = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
else:
|
||||
model_from_road = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
|
||||
|
||||
E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
|
||||
camera_frame_from_road_frame = intrinsics.dot(E)
|
||||
camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
|
||||
warp_matrix = camera_frame_from_ground .dot(ground_from_model)
|
||||
return warp_matrix
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user