diff --git a/.travis.yml b/.travis.yml index 179beaa8e..cfaf6580e 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,6 +13,11 @@ script: tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")' - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))' + - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover common' + - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/can' + - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/boardd' + - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && make -C cereal && python -m unittest discover selfdrive/controls' + - docker run tmppilot /bin/sh -c 'cd /tmp/openpilot/ && python -m unittest discover selfdrive/loggerd' - docker run -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py' diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 5305a7223..738679aca 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -10,9 +10,22 @@ Most open source development activity is coordinated through our [Discord](https * Make sure you have a [GitHub account](https://github.com/signup/free) * Fork [our repositories](https://github.com/commaai) on GitHub +## Testing + +### Local Testing + +You can test your changes on your machine by running `run_docker_tests.sh`. This will run some automated tests in docker against your code. + +### Automated Testing + +All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis. + +### Code Style and Linting + +Code is automatically check for style by travis as part of the automated tests. You can also run these yourself by running `check_code_quality.sh`. + ## Car Ports (openpilot) We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models. If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html) - diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 62c655d7c..f4c667fa0 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -2,17 +2,15 @@ FROM ubuntu:16.04 ENV PYTHONUNBUFFERED 1 RUN apt-get update && apt-get install -y \ + autoconf \ build-essential \ clang \ - vim \ - screen \ wget \ bzip2 \ git \ libglib2.0-0 \ + libtool \ python-pip \ - capnproto \ - libcapnp-dev \ libzmq5-dev \ libffi-dev \ libusb-1.0-0 \ @@ -21,6 +19,9 @@ RUN apt-get update && apt-get install -y \ ocl-icd-opencl-dev \ opencl-headers +COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh +RUN /tmp/install_capnp.sh + RUN pip install --upgrade pip==18.0 RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2 diff --git a/README.md b/README.md index 3a69dc1c0..797622c32 100644 --- a/README.md +++ b/README.md @@ -92,10 +92,13 @@ Supported Cars | Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom6| | Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom6| | Lexus | RX Hybrid 2016-19 | All | Yes | Yes2| 0mph | 0mph | Toyota | +| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru | | Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru | +| Toyota | Avalon 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota | | Toyota | Camry 20184 | All | Yes | Stock | 0mph5 | 0mph | Toyota | | Toyota | C-HR 2017-184 | All | Yes | Stock | 0mph | 0mph | Toyota | | Toyota | Corolla 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota | +| Toyota | Corolla Hatchback 2019 | All | Yes | Yes | 0mph | 0mph | Toyota | | Toyota | Highlander 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | | Toyota | Highlander Hybrid 2018 | All | Yes | Yes2| 0mph | 0mph | Toyota | | Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph | Toyota | @@ -103,6 +106,7 @@ Supported Cars | Toyota | Prius Prime 2017-19 | All | Yes | Yes2| 0mph | 0mph | Toyota | | Toyota | Rav4 2016 | TSS-P | Yes | Yes2| 20mph1| 0mph | Toyota | | Toyota | Rav4 2017-18 | All | Yes | Yes2| 20mph1| 0mph | Toyota | +| Toyota | Rav4 2019 | All | Yes | Yes | 0mph | 0mph | Toyota | | Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes2| 0mph | 0mph | Toyota | 1[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)*** @@ -159,6 +163,7 @@ Directory structure ├── pyextra # Libraries used on EON └── selfdrive # Code needed to drive the car ├── assets # Fonts and images for UI + ├── athena # Allows communication with the app ├── boardd # Daemon to talk to the board ├── can # Helpers for parsing CAN messages ├── car # Car specific code to read states and control actuators @@ -169,7 +174,6 @@ Directory structure ├── logcatd # Android logcat as a service ├── loggerd # Logger and uploader of car data ├── mapd # Fetches map data and computes next global path - ├── orbd # Computes ORB features from frames ├── proclogd # Logs information from proc ├── sensord # IMU / GPS interface code ├── test # Car simulator running code through virtual maneuvers diff --git a/RELEASES.md b/RELEASES.md index c63b3ef79..3799ad3c6 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,17 @@ +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 thansk to wocsor! + * Toyota Corolla with TSS 2.0 support thansk to wocsor! + Version 0.5.11 (2019-04-17) ======================== * Add support for Subaru diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk index 6df468220..b561d3fd7 100644 Binary files a/apk/ai.comma.plus.frame.apk and b/apk/ai.comma.plus.frame.apk differ diff --git a/cereal/Makefile b/cereal/Makefile index dc6b7f9d5..83318bef3 100644 --- a/cereal/Makefile +++ b/cereal/Makefile @@ -6,24 +6,24 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ JS := gen/js/car.capnp.js gen/js/log.capnp.js UNAME_M ?= $(shell uname -m) -# only generate C++ for docker tests -ifneq ($(OPTEST),1) - GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h - ifeq ($(UNAME_M),x86_64) - ifneq (, $(shell which capnpc-java)) - GENS += gen/java/Car.java gen/java/Log.java - else - $(warning capnpc-java not found, skipping java build) - endif - endif +GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h + +ifeq ($(UNAME_M),x86_64) + +ifneq (, $(shell which capnpc-java)) +GENS += gen/java/Car.java gen/java/Log.java +else +$(warning capnpc-java not found, skipping java build) +endif endif + ifeq ($(UNAME_M),aarch64) - CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc +CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc else - CAPNPC=capnpc +CAPNPC=capnpc endif .PHONY: all diff --git a/cereal/car.capnp b/cereal/car.capnp index 2915d6871..fe0d84e25 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -73,6 +73,7 @@ struct CarEvent @0x9b1657f34caf3ad3 { lowBattery @48; invalidGiraffeHonda @49; vehicleModelInvalid @50; + controlsFailed @51; } } @@ -281,31 +282,83 @@ struct CarControl { struct CarParams { carName @0 :Text; - radarNameDEPRECATED @1 :Text; - carFingerprint @2 :Text; + carFingerprint @1 :Text; - enableSteerDEPRECATED @3 :Bool; - enableGasInterceptor @4 :Bool; - enableBrakeDEPRECATED @5 :Bool; - enableCruise @6 :Bool; - enableCamera @26 :Bool; - enableDsu @27 :Bool; # driving support unit - enableApgs @28 :Bool; # advanced parking guidance system + enableGasInterceptor @2 :Bool; + enableCruise @3 :Bool; + enableCamera @4 :Bool; + enableDsu @5 :Bool; # driving support unit + enableApgs @6 :Bool; # advanced parking guidance system - minEnableSpeed @17 :Float32; - minSteerSpeed @49 :Float32; - safetyModel @18 :Int16; - safetyParam @41 :Int16; + minEnableSpeed @7 :Float32; + minSteerSpeed @8 :Float32; + safetyModel @9 :Int16; + safetyParam @10 :Int16; - steerMaxBP @19 :List(Float32); - steerMaxV @20 :List(Float32); - gasMaxBP @21 :List(Float32); - gasMaxV @22 :List(Float32); - brakeMaxBP @23 :List(Float32); - brakeMaxV @24 :List(Float32); + steerMaxBP @11 :List(Float32); + steerMaxV @12 :List(Float32); + gasMaxBP @13 :List(Float32); + gasMaxV @14 :List(Float32); + brakeMaxBP @15 :List(Float32); + brakeMaxV @16 :List(Float32); + + + # things about the car in the manual + mass @17 :Float32; # [kg] running weight + wheelbase @18 :Float32; # [m] distance from rear to front axle + centerToFront @19 :Float32; # [m] GC distance to front axle + steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles + steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (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; + lateralTuning :union { + pid @26 :LateralPIDTuning; + indi @27 :LateralINDITuning; + } + + steerLimitAlert @28 :Bool; + + vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state + directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake + stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping + startAccel @32 :Float32; # Required acceleraton to overcome creep braking + steerRateCost @33 :Float32; # Lateral MPC cost on steering rate + steerControlType @34 :SteerControlType; + radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN + + steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds + openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? + + struct LateralPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + kf @4 :Float32; + } + + struct LongitudinalPIDTuning { + kpBP @0 :List(Float32); + kpV @1 :List(Float32); + kiBP @2 :List(Float32); + kiV @3 :List(Float32); + deadzoneBP @4 :List(Float32); + deadzoneV @5 :List(Float32); + } + + + struct LateralINDITuning { + outerLoopGain @0 :Float32; + innerLoopGain @1 :Float32; + timeConstant @2 :Float32; + actuatorEffectiveness @3 :Float32; + } - longPidDeadzoneBP @32 :List(Float32); - longPidDeadzoneV @33 :List(Float32); enum SafetyModels { # does NOT match board setting @@ -323,46 +376,6 @@ struct CarParams { subaru @11; } - # things about the car in the manual - mass @7 :Float32; # [kg] running weight - wheelbase @8 :Float32; # [m] distance from rear to front axle - centerToFront @9 :Float32; # [m] GC distance to front axle - steerRatio @10 :Float32; # [] ratio between front wheels and steering wheel angles - steerRatioRear @11 :Float32; # [] rear steering ratio wrt front steering (usually 0) - - # things we can derive - rotationalInertia @12 :Float32; # [kg*m2] body rotational inertia - tireStiffnessFront @13 :Float32; # [N/rad] front tire coeff of stiff - tireStiffnessRear @14 :Float32; # [N/rad] rear tire coeff of stiff - - # Kp and Ki for the lateral control - steerKpBP @42 :List(Float32); - steerKpV @43 :List(Float32); - steerKiBP @44 :List(Float32); - steerKiV @45 :List(Float32); - steerKpDEPRECATED @15 :Float32; - steerKiDEPRECATED @16 :Float32; - steerKf @25 :Float32; - - # Kp and Ki for the longitudinal control - longitudinalKpBP @36 :List(Float32); - longitudinalKpV @37 :List(Float32); - longitudinalKiBP @38 :List(Float32); - longitudinalKiV @39 :List(Float32); - - steerLimitAlert @29 :Bool; - - vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state - directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake - stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping - startAccel @35 :Float32; # Required acceleraton to overcome creep braking - steerRateCost @40 :Float32; # Lateral MPC cost on steering rate - steerControlType @46 :SteerControlType; - radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN - - steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds - openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control? - enum SteerControlType { torque @0; angle @1; diff --git a/cereal/log.capnp b/cereal/log.capnp index 3f79deefe..84f0a3e80 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -388,9 +388,9 @@ struct Live100Data { ufAccelCmd @33 :Float32; yActualDEPRECATED @6 :Float32; yDesDEPRECATED @7 :Float32; - upSteer @8 :Float32; - uiSteer @9 :Float32; - ufSteer @34 :Float32; + upSteerDEPRECATED @8 :Float32; + uiSteerDEPRECATED @9 :Float32; + ufSteerDEPRECATED @34 :Float32; aTargetMinDEPRECATED @10 :Float32; aTargetMaxDEPRECATED @11 :Float32; aTarget @35 :Float32; @@ -428,6 +428,11 @@ struct Live100Data { vCurvature @46 :Float32; decelForTurn @47 :Bool; + lateralControlState :union { + indiState @52 :LateralINDIState; + pidState @53 :LateralPIDState; + } + enum ControlState { disabled @0; preEnabled @1; @@ -455,6 +460,31 @@ struct Live100Data { full @3; # full screen } + struct LateralINDIState { + active @0 :Bool; + steerAngle @1 :Float32; + steerRate @2 :Float32; + steerAccel @3 :Float32; + rateSetPoint @4 :Float32; + accelSetPoint @5 :Float32; + accelError @6 :Float32; + delayedOutput @7 :Float32; + delta @8 :Float32; + output @9 :Float32; + } + + struct LateralPIDState { + active @0 :Bool; + steerAngle @1 :Float32; + steerRate @2 :Float32; + angleError @3 :Float32; + p @4 :Float32; + i @5 :Float32; + f @6 :Float32; + output @7 :Float32; + saturated @8 :Bool; + } + } struct LiveEventData { @@ -545,7 +575,7 @@ struct LogRotate { struct Plan { mdMonoTime @9 :UInt64; l20MonoTime @10 :UInt64; - events @13 :List(Car.CarEvent); + eventsDEPRECATED @13 :List(Car.CarEvent); # lateral, 3rd order polynomial lateralValidDEPRECATED @0 :Bool; @@ -583,6 +613,7 @@ struct Plan { decelForTurn @22 :Bool; mapValid @25 :Bool; radarValid @28 :Bool; + radarCommIssue @30 :Bool; processingDelay @29 :Float32; diff --git a/check_code_quality.sh b/check_code_quality.sh new file mode 100644 index 000000000..854d757a8 --- /dev/null +++ b/check_code_quality.sh @@ -0,0 +1,11 @@ +#!/bin/bash + +pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda") +RESULT=$? +if [ $RESULT -eq 0 ]; then + pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda") + RESULT=$? & 3 +fi + +[ $RESULT -ne 0 ] && exit 1 +exit 0 diff --git a/common/kalman/Makefile b/common/kalman/Makefile new file mode 100644 index 000000000..cb8f09265 --- /dev/null +++ b/common/kalman/Makefile @@ -0,0 +1,10 @@ +all: simple_kalman_impl.so + +simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py + python simple_kalman_setup.py build_ext --inplace + rm -rf build + rm simple_kalman_impl.c + +.PHONY: clean +clean: + rm -f simple_kalman_impl.so diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py index 3f7d049cc..97b6d792d 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -1,23 +1,10 @@ -import numpy as np +# pylint: skip-file +import os +import subprocess +kalman_dir = os.path.dirname(os.path.abspath(__file__)) +subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir) -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 = 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 +from simple_kalman_impl import KF1D as KF1D +# Silence pyflakes +assert KF1D diff --git a/common/kalman/simple_kalman_impl.pxd b/common/kalman/simple_kalman_impl.pxd new file mode 100644 index 000000000..c81f95927 --- /dev/null +++ b/common/kalman/simple_kalman_impl.pxd @@ -0,0 +1,16 @@ +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 \ No newline at end of file diff --git a/common/kalman/simple_kalman_impl.pyx b/common/kalman/simple_kalman_impl.pyx new file mode 100644 index 000000000..43acf7e2a --- /dev/null +++ b/common/kalman/simple_kalman_impl.pyx @@ -0,0 +1,35 @@ + +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] \ No newline at end of file diff --git a/common/kalman/simple_kalman_old.py b/common/kalman/simple_kalman_old.py new file mode 100644 index 000000000..3f7d049cc --- /dev/null +++ b/common/kalman/simple_kalman_old.py @@ -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 = 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 diff --git a/common/kalman/simple_kalman_setup.py b/common/kalman/simple_kalman_setup.py new file mode 100644 index 000000000..bccd9f888 --- /dev/null +++ b/common/kalman/simple_kalman_setup.py @@ -0,0 +1,5 @@ +from distutils.core import setup, Extension +from Cython.Build import cythonize + +setup(name='Simple Kalman Implementation', + ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"]))) \ No newline at end of file diff --git a/common/kalman/tests/__init__.py b/common/kalman/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/common/kalman/tests/test_ekf.py b/common/kalman/tests/test_ekf.py new file mode 100644 index 000000000..3d6da323d --- /dev/null +++ b/common/kalman/tests/test_ekf.py @@ -0,0 +1,116 @@ +import numpy as np +import numpy.matlib +import unittest +import timeit + +from common.kalman.ekf import EKF, SimpleSensor, FastEKF1D + +class TestEKF(EKF): + def __init__(self, var_init, Q): + super(TestEKF, self).__init__(False) + self.identity = numpy.matlib.identity(2) + self.state = numpy.matlib.zeros((2, 1)) + self.covar = self.identity * var_init + + self.process_noise = numpy.matlib.diag(Q) + + def calc_transfer_fun(self, dt): + tf = numpy.matlib.identity(2) + tf[0, 1] = dt + return tf, tf + + +class EKFTest(unittest.TestCase): + def test_update_scalar(self): + ekf = TestEKF(1e3, [0.1, 1]) + dt = 1. / 100 + + sensor = SimpleSensor(0, 1, 2) + readings = map(sensor.read, np.arange(100, 300)) + + for reading in readings: + ekf.update_scalar(reading) + ekf.predict(dt) + + np.testing.assert_allclose(ekf.state, [[300], [100]], 1e-4) + np.testing.assert_allclose( + ekf.covar, + np.asarray([[0.0563, 0.10278], [0.10278, 0.55779]]), + atol=1e-4) + + def test_unbiased(self): + ekf = TestEKF(1e3, [0., 0.]) + dt = np.float64(1. / 100) + + sensor = SimpleSensor(0, 1, 2) + readings = map(sensor.read, np.arange(1000)) + + for reading in readings: + ekf.update_scalar(reading) + ekf.predict(dt) + + np.testing.assert_allclose(ekf.state, [[1000.], [100.]], 1e-4) + + +class FastEKF1DTest(unittest.TestCase): + def test_correctness(self): + dt = 1. / 100 + reading = SimpleSensor(0, 1, 2).read(100) + + ekf = TestEKF(1e3, [0.1, 1]) + fast_ekf = FastEKF1D(dt, 1e3, [0.1, 1]) + + ekf.update_scalar(reading) + fast_ekf.update_scalar(reading) + self.assertAlmostEqual(ekf.state[0] , fast_ekf.state[0]) + self.assertAlmostEqual(ekf.state[1] , fast_ekf.state[1]) + self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0]) + self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2]) + self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1]) + + ekf.predict(dt) + fast_ekf.predict(dt) + self.assertAlmostEqual(ekf.state[0] , fast_ekf.state[0]) + self.assertAlmostEqual(ekf.state[1] , fast_ekf.state[1]) + self.assertAlmostEqual(ekf.covar[0, 0], fast_ekf.covar[0]) + self.assertAlmostEqual(ekf.covar[0, 1], fast_ekf.covar[2]) + self.assertAlmostEqual(ekf.covar[1, 1], fast_ekf.covar[1]) + + def test_speed(self): + setup = """ +import numpy as np +from common.kalman.tests.test_ekf import TestEKF +from common.kalman.ekf import SimpleSensor, FastEKF1D + +dt = 1. / 100 +reading = SimpleSensor(0, 1, 2).read(100) + +var_init, Q = 1e3, [0.1, 1] +ekf = TestEKF(var_init, Q) +fast_ekf = FastEKF1D(dt, var_init, Q) + """ + + timeit.timeit(""" +ekf.update_scalar(reading) +ekf.predict(dt) + """, setup=setup, number=1000) + + ekf_speed = timeit.timeit(""" +ekf.update_scalar(reading) +ekf.predict(dt) + """, setup=setup, number=20000) + + timeit.timeit(""" +fast_ekf.update_scalar(reading) +fast_ekf.predict(dt) + """, setup=setup, number=1000) + + fast_ekf_speed = timeit.timeit(""" +fast_ekf.update_scalar(reading) +fast_ekf.predict(dt) + """, setup=setup, number=20000) + + assert fast_ekf_speed < ekf_speed / 4 + +if __name__ == "__main__": + unittest.main() diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py new file mode 100644 index 000000000..c1f9f7b03 --- /dev/null +++ b/common/kalman/tests/test_simple_kalman.py @@ -0,0 +1,85 @@ +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.matrix([[x0_0], [x1_0]]), + A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]), + C=np.matrix([C0_0, C0_1]), + K=np.matrix([[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 + self.assertAlmostEqual(x_old[0], x[0]) + self.assertAlmostEqual(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.matrix([[x0_0], [x1_0]]), + A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]), + C=np.matrix([C0_0, C0_1]), + K=np.matrix([[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) diff --git a/common/timeout.py b/common/timeout.py new file mode 100644 index 000000000..c2c1f6971 --- /dev/null +++ b/common/timeout.py @@ -0,0 +1,28 @@ +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 = 'Timed out after {} seconds'.format(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) + diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 78c9df989..1ac9bc5b2 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -200,3 +200,14 @@ def transform_img(base_img, augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE) return augmented_rgb + +def yuv_crop(frame, output_size, center=None): + # output_size in camera coordinates so u,v + # center in array coordinates so row, column + rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420) + if not center: + center = (rgb.shape[0]/2, rgb.shape[1]/2) + rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2, + center[1] - output_size[0]/2: center[1] + output_size[0]/2] + return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420) + diff --git a/common/transformations/model.py b/common/transformations/model.py index afb4d6671..e832cb7ee 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -1,8 +1,7 @@ import numpy as np from common.transformations.camera import eon_focal_length, \ - vp_from_ke, \ - get_view_frame_from_road_frame, \ + vp_from_ke, get_view_frame_from_road_frame, \ FULL_FRAME_SIZE # segnet @@ -117,6 +116,16 @@ def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model return np.dot(camera_from_model_camera, model_camera_from_model_frame) +def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame): + camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] + medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)] + + ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground) + camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame) + + return camera_frame_from_medmodel_frame + + def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame): camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)] diff --git a/opendbc/chrysler_pacifica_2017_hybrid.dbc b/opendbc/chrysler_pacifica_2017_hybrid.dbc index dd5a7fe99..db2892d33 100644 --- a/opendbc/chrysler_pacifica_2017_hybrid.dbc +++ b/opendbc/chrysler_pacifica_2017_hybrid.dbc @@ -209,6 +209,7 @@ BO_ 571 WHEEL_BUTTONS: 3 XXX SG_ ACC_FOLLOW_INC : 8|1@0+ (1,0) [0|15] "" XXX SG_ ACC_CANCEL : 0|1@0+ (1,0) [0|15] "" XXX SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX + SG_ ACC_RESUME : 4|1@0+ (1,0) [0|15] "" XXX BO_ 669 NEW_MSG_29d: 3 XXX SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX diff --git a/opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc b/opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc new file mode 100644 index 000000000..070b4e6e7 --- /dev/null +++ b/opendbc/generator/toyota/lexus_gs300h_2017_pt.dbc @@ -0,0 +1,38 @@ +CM_ "IMPORT _toyota_2017.dbc" +CM_ "IMPORT _comma.dbc" + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL: 5 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + +BO_ 1009 PCM_CRUISE_3: 8 XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX + +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; diff --git a/opendbc/lexus_gs300h_2017_pt_generated.dbc b/opendbc/lexus_gs300h_2017_pt_generated.dbc new file mode 100644 index 000000000..113f1101c --- /dev/null +++ b/opendbc/lexus_gs300h_2017_pt_generated.dbc @@ -0,0 +1,336 @@ +CM_ "AUTOGENERATED FILE, DO NOT EDIT" + + +CM_ "Imported file _comma.dbc starts here" +BO_ 359 STEERING_IPAS_COMMA: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; + + BO_ 512 GAS_COMMAND: 6 EON + SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR + SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR + SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR + + BO_ 513 GAS_SENSOR: 6 INTERCEPTOR + SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON + SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON + SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON + SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON + SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON + + VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; + + +CM_ "Imported file _toyota_2017.dbc starts here" +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX DSU HCU EPS IPAS + +BO_ 36 KINEMATICS: 8 XXX + SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX + SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX + SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX + +BO_ 37 STEER_ANGLE_SENSOR: 8 XXX + SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX + SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX + SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX + +BO_ 166 BRAKE: 8 XXX + SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX + SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 170 WHEEL_SPEEDS: 8 XXX + SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX + SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX + SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX + SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX + +BO_ 180 SPEED: 8 XXX + SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX + +BO_ 353 DSU_SPEED: 8 XXX + SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX + +BO_ 466 PCM_CRUISE: 8 XXX + SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX + SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX + SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 467 PCM_CRUISE_2: 8 XXX + SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX + SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 552 ACCELEROMETER: 8 XXX + SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX + SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX + +BO_ 560 BRAKE_MODULE2: 7 XXX + SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX + +BO_ 614 STEERING_IPAS: 8 IPAS + SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX + SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX + SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX + SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX + SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 643 PRE_COLLISION: 8 XXX + +BO_ 740 STEERING_LKA: 5 XXX + SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX + SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX + SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX + SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX + SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 742 LEAD_INFO: 8 DSU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU + SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU + SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU + +BO_ 835 ACC_CONTROL: 8 DSU + SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU + SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU + SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX + SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX + SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU + SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU + SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 921 PCM_CRUISE_SM: 8 XXX + SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX + SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX + SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX + SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX + +BO_ 951 ESP_CONTROL: 8 ESP + SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX + SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX + +BO_ 1041 ACC_HUD: 8 DSU + SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX + +BO_ 1042 LKAS_HUD: 8 XXX + SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX + SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX + SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX + SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX + SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX + SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX + SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX + SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX + SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX + SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX + +BO_ 1553 UI_SEETING: 8 XXX + SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX + +BO_ 1556 STEERING_LEVERS: 8 XXX + SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX + +BO_ 1568 SEATS_DOORS: 8 XXX + SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX + SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX + +BO_ 1570 LIGHT_STALK: 8 SCM + SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 1161 RSA1: 8 FCM + SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX + SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX + SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1162 RSA2: 8 FCM + SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX + SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX + SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX + SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX + SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX + SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX + SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX + SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX + SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX + SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX + +BO_ 1163 RSA3: 8 FCM + SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX + SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX + SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX + SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX + SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX + SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX + SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX + +CM_ SG_ 36 ACCEL_Y "unit is tbd"; +CM_ SG_ 36 YAW_RATE "verify"; +CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; +CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; +CM_ SG_ 37 STEER_RATE "factor is tbd"; +CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; +CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect"; +CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; +CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; +CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; +CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; +CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; +CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit"; +CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; +CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces"; +CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts"; +CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; +CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1161 SPDVAL2 "conditional speed value 70" +CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; +CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; +CM_ SG_ 1163 TSREQPD "always 1"; +CM_ SG_ 1163 TSRMSW "always 1"; +CM_ SG_ 1163 OTSGNNTM "always 3"; +CM_ SG_ 1163 NTLVLSPD "always 3"; +CM_ SG_ 1163 OVSPNTM "always 3"; +CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; +CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; +CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; +CM_ SG_ 1163 TSRSPU "always 1"; + +VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off"; +VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; +VAL_ 614 STATE 3 "enabled" 1 "disabled"; +VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; +VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; +VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; +VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none"; +VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; +VAL_ 1553 UNITS 1 "km" 2 "miles"; +VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; +VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; +VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; +VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; +VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry"; +VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; + + +CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180"; + +CM_ "lexus_gs300h_2017_pt.dbc starts here" + + + +BO_ 550 BRAKE_MODULE: 8 XXX + SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX + SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX + +BO_ 581 GAS_PEDAL: 5 XXX + SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX + +BO_ 608 STEER_TORQUE_SENSOR: 8 XXX + SG_ STEER_TORQUE_EPS : 47|16@0- (0.73,0) [-20000|20000] "" XXX + SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX + SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 610 EPS_STATUS: 5 EPS + SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX + SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX + SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX + +BO_ 956 GEAR_PACKET: 8 XXX + SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX + +BO_ 1009 PCM_CRUISE_3: 8 XXX + SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX + SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX + SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|15] "" XXX + +CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; +CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; +CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; +CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; +VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; +VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; +VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; diff --git a/opendbc/subaru_global_2017.dbc b/opendbc/subaru_global_2017.dbc index 4d0f67515..0e2c87f81 100644 --- a/opendbc/subaru_global_2017.dbc +++ b/opendbc/subaru_global_2017.dbc @@ -225,7 +225,11 @@ BO_ 802 ES_LKAS_State: 8 XXX SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX - SG_ Signal4 : 27|5@1+ (1,0) [0|1] "" XXX + SG_ Signal4 : 27|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Left_Line_Visible : 28|1@1+ (1,0) [0|1] "" XXX + SG_ Signal6 : 29|1@1+ (1,0) [0|1] "" XXX + SG_ LKAS_Right_Line_Visible : 30|1@1+ (1,0) [0|1] "" XXX + SG_ Signal7 : 31|1@1+ (1,0) [0|1] "" XXX SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX @@ -321,10 +325,11 @@ BO_ 1658 NEW_MSG_39: 8 XXX SG_ NEW_SIGNAL_3 : 33|1@1+ (1,0) [0|3] "" XXX SG_ NEW_SIGNAL_4 : 31|1@0+ (1,0) [0|3] "" XXX -BO_ 1677 NEW_MSG_40: 8 XXX +BO_ 1677 Dash_State: 8 XXX SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX SG_ NEW_SIGNAL_3 : 16|4@1+ (1,0) [0|15] "" XXX + SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX BO_ 1743 NEW_MSG_41: 8 XXX SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX @@ -355,3 +360,4 @@ CM_ SG_ 940 FOG_LIGHTS2 "yellow fog light in the dash"; CM_ SG_ 940 Highbeam "01 = low beam, 11 = high beam"; CM_ SG_ 805 NEW_SIGNAL_3 "always 3"; CM_ SG_ 805 NEW_SIGNAL_4 "always 1"; +CM_ SG_ 1677 Units "1 = imperial, 6 = metric"; diff --git a/opendbc/subaru_outback_2015_eyesight.dbc b/opendbc/subaru_outback_2015_eyesight.dbc index f233d3bb3..2f7965585 100644 --- a/opendbc/subaru_outback_2015_eyesight.dbc +++ b/opendbc/subaru_outback_2015_eyesight.dbc @@ -38,11 +38,11 @@ BU_: XXX BO_ 2 Steering: 8 XXX SG_ NEW_SIGNAL_1 : 31|4@0- (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_6 : 24|1@1+ (1,0) [0|3] "" XXX SG_ Counter : 25|3@1+ (1,0) [0|15] "" XXX SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX SG_ NEW_SIGNAL_2 : 22|3@0+ (1,0) [0|7] "" XXX - SG_ Steering_Angle : 7|16@0- (-0.1,-9) [-497|500] "degree" XXX + SG_ NEW_SIGNAL_6 : 24|1@1+ (1,0) [0|3] "" XXX + SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX BO_ 208 G_Sensor: 8 XXX SG_ NEW_SIGNAL_3 : 32|8@1+ (1,0) [0|255] "" XXX @@ -52,10 +52,9 @@ BO_ 208 G_Sensor: 8 XXX SG_ _Longitudinal : 48|16@1- (0.000035,0) [0|255] "" XXX BO_ 209 Brake_Pedal: 8 XXX - SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 56|8@1+ (1,0) [0|255] "" XXX SG_ NEW_SIGNAL_1 : 26|1@1+ (1,0) [0|3] "" XXX SG_ Brake_Pedal : 23|8@0+ (1,0) [0|255] "" XXX + SG_ NEW_SIGNAL_2 : 31|1@1+ (1,0) [0|255] "" XXX SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX BO_ 210 Brake_2: 8 XXX @@ -76,7 +75,7 @@ BO_ 211 Brake_Type: 8 XXX SG_ Brake_Cruise_On : 42|1@0+ (1,0) [0|3] "" XXX SG_ Brake_Pedal_On : 46|1@0+ (1,0) [0|3] "" XXX -BO_ 212 WHEEL_SPEEDS: 8 XXX +BO_ 212 Wheel_Speeds: 8 XXX SG_ FL : 0|16@1+ (0.0592,0) [2|255] "KPH" XXX SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX SG_ RL : 32|16@1+ (0.0592,0) [0|255] "" XXX @@ -106,7 +105,7 @@ BO_ 321 undefined: 8 XXX SG_ Wheel_Torque : 16|12@1+ (1,0) [0|255] "" XXX SG_ Engine_Stop : 15|1@0+ (1,0) [0|3] "" XXX -BO_ 324 CruiseControl_2015: 8 XXX +BO_ 324 CruiseControl: 8 XXX SG_ Cruise_On : 48|1@0+ (1,0) [0|3] "" XXX SG_ OnOffButton : 2|1@1+ (1,0) [0|3] "" XXX SG_ SET_BUTTON : 3|1@0+ (1,0) [0|3] "" XXX @@ -117,8 +116,8 @@ BO_ 324 CruiseControl_2015: 8 XXX SG_ NEW_SIGNAL_2 : 8|1@0+ (1,0) [0|255] "" XXX SG_ Cruise_Activated : 49|1@0+ (1,0) [0|7] "" XXX SG_ Brake_Pedal_On : 51|1@0+ (1,0) [0|3] "" XXX - SG_ Button : 13|1@0+ (1,0) [0|3] "" XXX SG_ NEW_SIGNAL_1 : 23|8@0+ (1,-124) [0|255] "" XXX + SG_ Button : 13|1@0+ (1,0) [0|3] "" XXX BO_ 328 Transmission: 8 XXX SG_ Counter : 11|4@0+ (1,0) [0|255] "" XXX @@ -165,6 +164,7 @@ BO_ 352 ES_Brake: 8 XXX SG_ Brake_Light : 20|1@0+ (1,0) [0|2047] "" XXX SG_ Cruise_Activated : 23|1@0+ (1,0) [0|3] "" XXX SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX + SG_ ES_Error : 21|1@0+ (1,0) [0|7] "" XXX BO_ 353 ES_CruiseThrottle: 8 XXX SG_ Throttle_Cruise : 0|12@1+ (1,0) [0|255] "" XXX @@ -182,6 +182,7 @@ BO_ 353 ES_CruiseThrottle: 8 XXX SG_ NEW_SIGNAL_6_Blank : 23|1@0+ (1,0) [0|7] "" XXX SG_ DistanceSwap : 21|1@0+ (1,0) [0|3] "" XXX SG_ Brake_On : 20|1@0+ (1,0) [0|7] "" XXX + SG_ ES_Error : 42|1@1+ (1,0) [0|3] "" XXX BO_ 354 ES_RPM: 8 XXX SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX @@ -192,17 +193,14 @@ BO_ 354 ES_RPM: 8 XXX BO_ 356 ES_LKAS: 8 XXX SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX - SG_ Counter : 0|3@1+ (1,0) [0|8] "" XXX + SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4095] "" XXX + SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX -BO_ 358 ES_Status: 8 XXX +BO_ 358 ES_DashStatus: 8 XXX SG_ Counter : 39|3@0+ (1,0) [0|7] "" XXX - SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX - SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX SG_ Obstacle_Distance : 48|4@1+ (1,0) [0|15] "" XXX SG_ Cruise_Off : 22|1@0+ (1,0) [0|3] "" XXX - SG_ Saved_Speed : 24|8@1+ (1,0) [0|255] "" XXX SG_ Car_Follow : 46|1@1+ (1,0) [0|255] "" XXX SG_ Driver_Input : 20|1@0+ (1,0) [0|15] "" XXX SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|3] "" XXX @@ -211,24 +209,28 @@ BO_ 358 ES_Status: 8 XXX SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX SG_ NEW_SIGNAL_4_Blank : 34|1@1+ (1,0) [0|7] "" XXX SG_ NEW_SIGNAL_1 : 35|1@0+ (1,0) [0|31] "" XXX - SG_ Sig3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX - SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX SG_ Steep_Hill_Disengage : 44|1@0+ (1,0) [0|3] "" XXX + SG_ ES_Error : 32|1@1+ (1,0) [0|3] "" XXX + SG_ Cruise_Activated : 17|1@1+ (1,0) [0|3] "" XXX + SG_ Cruise_On : 16|1@1+ (1,0) [0|7] "" XXX SG_ Disengage_Alert : 15|2@0+ (1,0) [0|3] "" XXX + SG_ 3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX + SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX + SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX BO_ 359 ES_LDW: 8 XXX - SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX - SG_ Sig2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX - SG_ Sig3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX - SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX SG_ LKAS_Steer_Active_2017 : 37|1@0+ (1,0) [0|3] "" XXX SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX + SG_ Sig2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX SG_ Sig1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX - SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX + SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX + SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX + SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX + SG_ Sig3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX BO_ 392 Counter_0: 8 XXX SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX @@ -255,6 +257,7 @@ BO_ 642 Dashlights: 8 XXX SG_ NEW_SIGNAL_3 : 34|2@1+ (1,0) [0|3] "" XXX SG_ LEFT_BLINKER : 44|1@0+ (1,0) [0|3] "" XXX SG_ RIGHT_BLINKER : 45|1@0+ (1,0) [0|3] "" XXX + SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|3] "" XXX BO_ 644 NEW_MSG_8: 8 XXX SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX @@ -272,21 +275,23 @@ BO_ 880 Steer_Torque_2: 8 XXX SG_ Steer_Torque_Sensor : 32|8@1- (-1,0) [0|255] "" XXX BO_ 881 Steering_Torque: 8 XXX - SG_ Steering_Motor_Flat : 0|8@1+ (1,0) [0|255] "" XXX - SG_ Steer_Torque_Sensor : 39|8@0- (1,0) [0|255] "" XXX - SG_ Steering_Angle : 40|16@1- (-0.026,0) [0|255] "" XXX - SG_ Steering_Motor_LeftRight : 23|16@0- (-0.13,0) [0|255] "" XXX + SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|16500] "" XXX + SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-16500|16500] "" XXX + SG_ Steer_Torque_Sensor : 29|11@1- (8,0) [-8500|-8500] "" XXX + SG_ Steering_Angle : 40|16@1- (-0.026,0) [-600|600] "" XXX + SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX BO_ 882 Counter: 8 XXX SG_ Counter : 15|4@0+ (1,0) [0|31] "" XXX SG_ Something : 16|2@1+ (1,0) [0|255] "" XXX -BO_ 884 DOORS_STATUS: 8 XXX +BO_ 884 BodyInfo: 8 XXX SG_ DOOR_OPEN_FR : 24|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_FL : 25|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RL : 26|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_RR : 27|1@0+ (1,0) [0|1] "" XXX SG_ DOOR_OPEN_Hatch : 28|1@0+ (1,0) [0|1] "" XXX + SG_ _UNKNOWN : 2|3@0+ (1,0) [0|1] "" XXX BO_ 886 undefined: 8 XXX @@ -341,30 +346,27 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; CM_ SG_ 320 Throttle_Body_ "Throttle related"; CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; -CM_ SG_ 338 Wiper "0 off, 1 on"; CM_ SG_ 353 NEW_SIGNAL_3_Blank "always 2"; CM_ SG_ 353 NEW_SIGNAL_2_Blank "0"; CM_ SG_ 353 NEW_SIGNAL_9 "flipped around quick engagement"; CM_ SG_ 353 NEW_SIGNAL_6_Blank "always 1"; CM_ SG_ 353 Brake_On "long activatedish"; CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; -CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go"; CM_ SG_ 358 Car_Follow "front car detected"; -CM_ SG_ 358 Sig3SecondDisengage "seatbelt disengage"; +CM_ SG_ 358 ES_Error "No engagement until restart"; +CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go"; CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; -CM_ SG_ 359 Sig2All_Depart "Left and right depart"; -CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; +CM_ SG_ 358 3SecondDisengage "seatbelt disengage"; CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; +CM_ SG_ 359 Sig2All_Depart "Left and right depart"; CM_ SG_ 359 Sig1All_Depart "Left and right depart"; -CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; +CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; +CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; CM_ SG_ 642 Counter "Affected by signals"; CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left"; CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; CM_ SG_ 880 NEW_SIGNAL_1 "0 in 2017"; -CM_ SG_ 880 NEW_SIGNAL_2 ""; CM_ SG_ 880 NEW_SIGNAL_4_2017 "1 in 2017"; CM_ SG_ 880 NEW_SIGNAL_5_2017 "1 in 2017"; -CM_ SG_ 881 Steering_Motor_Flat "Possibly motor voltage"; -CM_ SG_ 881 Steering_Angle "Missing extra larger bits"; diff --git a/opendbc/tesla_radar.dbc b/opendbc/tesla_radar.dbc new file mode 100644 index 000000000..e7b9cbc05 --- /dev/null +++ b/opendbc/tesla_radar.dbc @@ -0,0 +1,1371 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: FrontCamera Radar + + +BO_ 769 TeslaRadarSguInfo: 8 Radar + SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] "" FrontCamera + SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] "" FrontCamera + SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] "" FrontCamera + SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] "" FrontCamera + SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] "" FrontCamera + SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 770 TeslaRadarTguInfo: 8 Radar + SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] "" FrontCamera + SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ unused30 : 30|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] "" FrontCamera + SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] "" FrontCamera + +BO_ 1281 TeslaRadarAlertMatrix: 8 Radar + SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] "" FrontCamera + SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ unused62 : 62|2@1+ (1,0) [0|3] "" FrontCamera + +BO_ 784 M_310hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 785 M_310hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 787 M_313hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 788 M_313hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 790 M_316hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 791 M_316hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 793 M_319hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 794 M_319hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 796 M_31Chex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 797 M_31Chex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 799 M_31Fhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 800 M_31Fhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 802 M_322hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 803 M_322hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 805 M_325hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 806 M_325hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 808 M_328hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 809 M_328hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 811 M_32Bhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 812 M_32Bhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 814 M_32Ehex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 815 M_32Ehex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 817 M_331hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 818 M_331hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 820 M_334hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 821 M_334hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 823 M_337hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 824 M_337hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 826 M_33Ahex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 827 M_33Ahex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 829 M_33Dhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 830 M_33Dhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 832 M_340hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 833 M_340hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 835 M_343hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 836 M_343hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 838 M_346hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 839 M_346hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 841 M_349hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 842 M_349hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 844 M_34Chex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 845 M_34Chex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 847 M_34Fhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 848 M_34Fhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 850 M_352hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 851 M_352hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 853 M_355hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 854 M_355hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 856 M_358hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 857 M_358hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 859 M_35Bhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 860 M_35Bhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 862 M_35Ehex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 863 M_35Ehex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 865 M_361hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 866 M_361hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 868 M_364hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 869 M_364hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 871 M_367hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 872 M_367hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 874 M_36Ahex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 875 M_36Ahex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 877 M_36Dhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 878 M_36Dhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 881 L_1_371hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 882 L_1_371hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 884 L_2_374hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 885 L_2_375hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 887 L_3_377hex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 888 L_3_378hex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 890 L_4_37ahex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 891 L_4_37ahex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 893 L_5_37dhex: 8 Radar + SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" FrontCamera + SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" FrontCamera + SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" FrontCamera + SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" FrontCamera + SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Valid : 55|1@1+ (1,0) [0|1] "" FrontCamera + SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Meas : 61|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Tracked : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 894 L_5_37dhex2: 8 Radar + SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" FrontCamera + SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" FrontCamera + SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" FrontCamera + SG_ MovingState : 22|2@1+ (1,0) [0|3] "" FrontCamera + SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" FrontCamera + SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" FrontCamera + SG_ axSigma : 36|6@1+ (1,0) [0|63] "" FrontCamera + SG_ dySigma : 42|6@1+ (1,0) [0|63] "" FrontCamera + SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" FrontCamera + SG_ Class : 53|3@1+ (1,0) [0|7] "" FrontCamera + SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" FrontCamera + SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" FrontCamera + SG_ Index2 : 63|1@1+ (1,0) [0|1] "" FrontCamera + +BO_ 697 VIN_VIP_405HS: 8 FrontCamera + SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] "" Radar + SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar + SG_ VIN_Part2 m17 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + SG_ VIN_Part3 m18 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar + +BO_ 681 Msg2A9_GTW_carConfig: 8 FrontCamera + SG_ Msg2A9_Always0x02 : 48|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x10 : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x16 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x41 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value1_0x02 : 0|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_FourWheelDrive : 3|2@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Value2_0x02 : 5|3@1+ (1,0) [0|0] "" Radar + SG_ Msg2A9_Always0x43 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 409 Msg199_STW_ANGLHP_STAT: 8 FrontCamera + SG_ Msg199Always0x04 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x20 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x2F : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0x67 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Always0xFF : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg199Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 361 Msg169_ESP_wheelSpeeds: 8 FrontCamera + SG_ ESP_wheelSpeedFrL_HS : 0|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedFrR_HS : 13|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReL_HS : 26|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ ESP_wheelSpeedReR_HS : 39|13@1+ (0.04,0) [0|327.64] "km/h" Radar + SG_ Msg169Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg169Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 345 Msg159_ESP_C: 8 FrontCamera + SG_ Msg159Always0x3A : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xA5 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xCF : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Always0xF4 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg159Counter : 44|4@1+ (1,0) [0|0] "" Radar + SG_ Msg159Checksum : 24|8@1+ (1,0) [0|0] "" Radar + +BO_ 329 Msg149_ESP_145h: 8 FrontCamera + SG_ Msg149Always0x02 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x04 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x26 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0x6A : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xAA : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Always0xF : 48|4@1+ (1,0) [0|0] "" Radar + SG_ Msg149Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg149Counter : 52|4@1+ (1,0) [0|0] "" Radar + +BO_ 297 Msg129_ESP_115h: 6 FrontCamera + SG_ Msg129Always0x20 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg129Counter : 36|4@1+ (1,0) [0|0] "" Radar + +BO_ 281 Msg119_DI_torque2: 6 FrontCamera + SG_ Msg119Always0x11 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x1F : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0x8 : 36|4@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xF4 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Always0xFF : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Checksum : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg119Counter : 32|4@1+ (1,0) [0|0] "" Radar + +BO_ 265 Msg109_DI_torque1: 8 FrontCamera + SG_ Msg109Always0x80 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Checksum : 56|8@1+ (1,0) [0|0] "" Radar + SG_ Msg109Counter : 13|3@1+ (1,0) [0|0] "" Radar + +BO_ 521 Msg209_GTW_odo: 8 FrontCamera + SG_ Msg209Always0x61 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x94 : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x52 : 24|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x13 : 32|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x03 : 40|8@1+ (1,0) [0|0] "" Radar + SG_ Msg209Always0x80 : 48|8@1+ (1,0) [0|0] "" Radar + +BO_ 537 Msg219_STW_ACTN_RQ: 8 FrontCamera + SG_ Msg219Counter : 52|4@1+ (1,0) [0|15] "" Radar + SG_ Msg219CRC : 56|8@1+ (1,0) [0|0] "" Radar + +BO_ 425 Msg1A9_DI_espControl: 5 FrontCamera + SG_ Msg1A9Always0x0C : 16|8@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Counter : 28|4@1+ (1,0) [0|0] "" Radar + SG_ Msg1A9Checksum : 32|8@1+ (1,0) [0|0] "" Radar + +BO_ 729 Msg2D9_BC_status : 8 FrontCamera + SG_ Msg2D9Always0x80 : 0|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x40 : 8|8@1+ (1,0) [0|0] "" Radar + SG_ Msg2D9Always0x83 : 16|8@1+ (1,0) [0|0] "" Radar + +BO_ 1601 UDS_radarRequest: 8 FrontCamera + SG_ UDS_radarRequestData : 7|64@0+ (1,0) [0|0] "" Radar + +BO_ 1617 Radar_udsResponse: 8 Radar + SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|0] "" FrontCamera + +CM_ BO_ 697 "Start with MuxID 0x12, then 0x11 and finally 0x10 (VIN is then transmitted in the reverse order)"; +CM_ BO_ 681 "Message sent every 1000 ms. All fixed bytes, no checksum, the byte for RWD or AWD needs to match VIN config"; +CM_ BO_ 409 "Message sent every 10ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 361 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x76"; +CM_ BO_ 345 "Message sent every 20ms. Checksum : Sum of all first bytes + 0xc; place checksum in 4th octet"; +CM_ BO_ 329 "Message sent every 20ms. Checksum : Sum of all first 7 bytes + 0x46"; +CM_ BO_ 297 "Message sent every 20ms. Checksum : Sum of all first 5 bytes + 0x16"; +CM_ BO_ 281 "Message sent every 10ms. Checksum : Sum of all first 5 bytes + 0x17"; +CM_ BO_ 265 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x7"; +CM_ BO_ 521 "Message sent every 100ms. All fixed bytes, no checksum."; +CM_ BO_ 537 "Message sent every 100ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; +CM_ BO_ 425 "Message sent every 20ms. Checksum : Sum of all first 4 bytes + 0x38"; +CM_ BO_ 729 "Message sent every 1000ms. All fixed bytes, no checksum."; + +BA_DEF_ "BusType" STRING ; +BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; +BA_DEF_ SG_ "FieldType" STRING ; + +BA_DEF_DEF_ "BusType" "CAN"; +BA_DEF_DEF_ "FieldType" ""; +BA_DEF_DEF_ "GenMsgCycleTime" 0; + +BA_ "GenMsgCycleTime" BO_ 697 250; +BA_ "GenMsgCycleTime" BO_ 681 1000; +BA_ "GenMsgCycleTime" BO_ 409 10; +BA_ "GenMsgCycleTime" BO_ 361 10; +BA_ "GenMsgCycleTime" BO_ 345 20; +BA_ "GenMsgCycleTime" BO_ 329 20; +BA_ "GenMsgCycleTime" BO_ 297 20; +BA_ "GenMsgCycleTime" BO_ 281 10; +BA_ "GenMsgCycleTime" BO_ 265 10; +BA_ "GenMsgCycleTime" BO_ 521 100; +BA_ "GenMsgCycleTime" BO_ 537 100; +BA_ "GenMsgCycleTime" BO_ 425 20; +BA_ "GenMsgCycleTime" BO_ 729 1000; + +VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ; +VAL_ 785 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 785 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 788 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 788 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 791 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 791 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 794 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 794 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 797 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 797 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 800 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 800 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 803 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 803 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 806 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 806 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 809 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 809 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 812 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 812 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 815 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 815 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 818 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 818 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 821 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 821 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 824 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 824 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 827 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 827 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 830 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 830 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 833 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 833 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 836 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 836 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 839 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 839 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 842 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 842 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 845 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 845 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 848 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 848 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 851 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 851 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 854 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 854 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 857 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 857 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 860 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 860 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 863 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 863 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 866 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 866 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 869 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 869 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 872 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 872 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 875 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 875 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 878 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 878 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 882 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 882 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 885 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 885 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 888 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 888 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 891 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 891 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; +VAL_ 894 MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; +VAL_ 894 Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 "RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ; + diff --git a/opendbc/toyota_rav4_2019_adas.dbc b/opendbc/toyota_rav4_2019_adas.dbc new file mode 100644 index 000000000..d472debd6 --- /dev/null +++ b/opendbc/toyota_rav4_2019_adas.dbc @@ -0,0 +1,285 @@ +VERSION "" + + +NS_ : + NS_DESC_ + CM_ + BA_DEF_ + BA_ + VAL_ + CAT_DEF_ + CAT_ + FILTER + BA_DEF_DEF_ + EV_DATA_ + ENVVAR_DATA_ + SGTYPE_ + SGTYPE_VAL_ + BA_DEF_SGTYPE_ + BA_SGTYPE_ + SIG_TYPE_REF_ + VAL_TABLE_ + SIG_GROUP_ + SIG_VALTYPE_ + SIGTYPE_VALTYPE_ + BO_TX_BU_ + BA_DEF_REL_ + BA_REL_ + BA_DEF_DEF_REL_ + BU_SG_REL_ + BU_EV_REL_ + BU_BO_REL_ + SG_MUL_VAL_ + +BS_: + +BU_: XXX + + +BO_ 384 TRACK_A_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 385 TRACK_A_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 386 TRACK_A_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 387 TRACK_A_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 388 TRACK_A_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 389 TRACK_A_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 390 TRACK_A_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 391 TRACK_A_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 392 TRACK_A_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 393 TRACK_A_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 394 TRACK_A_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 395 TRACK_A_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 396 TRACK_A_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 397 TRACK_A_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 398 TRACK_A_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 399 TRACK_A_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ LAT_DIST : 31|11@0- (0.04,0) [-50|50] "m" XXX + SG_ LONG_DIST : 15|13@0+ (0.04,0) [0|300] "m" XXX + SG_ NEW_TRACK : 36|1@0+ (1,0) [0|1] "" XXX + SG_ REL_SPEED : 47|12@0- (0.025,0) [-100|100] "m/s" XXX + SG_ VALID : 48|1@0+ (1,0) [0|1] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 400 TRACK_B_0: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 401 TRACK_B_1: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 402 TRACK_B_2: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 403 TRACK_B_3: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 404 TRACK_B_4: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 405 TRACK_B_5: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 406 TRACK_B_6: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 407 TRACK_B_7: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 408 TRACK_B_8: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 409 TRACK_B_9: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 410 TRACK_B_10: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 411 TRACK_B_11: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 412 TRACK_B_12: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 413 TRACK_B_13: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 414 TRACK_B_14: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 415 TRACK_B_15: 8 XXX + SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX + SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX + SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX + SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX + +BO_ 576 NEW_MSG_1: 8 XXX + SG_ NEW_SIGNAL_1 : 15|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX + +BO_ 577 NEW_MSG_2: 8 XXX + SG_ NEW_SIGNAL_1 : 15|7@0+ (1,0) [0|127] "" XXX + SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX diff --git a/panda/Jenkinsfile b/panda/Jenkinsfile index b90a8ca38..c67a10051 100644 --- a/panda/Jenkinsfile +++ b/panda/Jenkinsfile @@ -6,8 +6,8 @@ pipeline { script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}" ).trim()}""" - DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}" - DOCKER_NAME = "panda-test-${env.BUILD_ID}" + DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}" + DOCKER_NAME = "panda-test-${env.GIT_COMMIT}" } stages { stage('Build Docker Image') { diff --git a/panda/board/build.mk b/panda/board/build.mk index a84ed3fd9..bde461d21 100644 --- a/panda/board/build.mk +++ b/panda/board/build.mk @@ -24,6 +24,11 @@ endif DFU_UTIL = "dfu-util" +DEPDIR = generated_dependencies +$(shell mkdir -p -m 777 $(DEPDIR) >/dev/null) +DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPDIR)/$*.Td +POSTCOMPILE = @mv -f $(DEPDIR)/$*.Td $(DEPDIR)/$*.d && touch $@ + # this no longer pushes the bootstub flash: obj/$(PROJ_NAME).bin PYTHONPATH=../ python -c "from python import Panda; Panda().flash('obj/$(PROJ_NAME).bin')" @@ -45,8 +50,9 @@ include ../common/version.mk obj/cert.h: ../crypto/getcertheader.py ../crypto/getcertheader.py ../certs/debug.pub ../certs/release.pub > $@ -obj/%.$(PROJ_NAME).o: %.c obj/cert.h obj/gitversion.h config.h drivers/*.h gpio.h libc.h provision.h safety.h safety/*.h spi_flasher.h - $(CC) $(CFLAGS) -o $@ -c $< +obj/%.$(PROJ_NAME).o: %.c obj/gitversion.h obj/cert.h $(DEPDIR)/%.d + $(CC) $(DEPFLAGS) $(CFLAGS) -o $@ -c $< + $(POSTCOMPILE) obj/%.$(PROJ_NAME).o: ../crypto/%.c $(CC) $(CFLAGS) -o $@ -c $< @@ -59,12 +65,18 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o $(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^ $(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT) - @BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi; - + @BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; \ + if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi; obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o $(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^ $(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@ +$(DEPDIR)/%.d: ; +.PRECIOUS: $(DEPDIR)/%.d + +include $(wildcard $(patsubst %,$(DEPDIR)/%.d,$(basename $(wildcard *.c)))) + clean: - @rm -f obj/* + @$(RM) obj/* + @rm -rf $(DEPDIR) diff --git a/panda/board/main.c b/panda/board/main.c index 478f8b942..4fb5e9ff0 100644 --- a/panda/board/main.c +++ b/panda/board/main.c @@ -627,7 +627,7 @@ int main() { //puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n"); #ifdef PANDA - int current = adc_get(ADCCHAN_CURRENT); + uint32_t current = adc_get(ADCCHAN_CURRENT); switch (usb_power_mode) { case USB_POWER_CLIENT: diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h index 9fedf16c6..5d2bd23d2 100644 --- a/panda/board/safety/safety_subaru.h +++ b/panda/board/safety/safety_subaru.h @@ -123,6 +123,10 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) { if (addr == 545) { return -1; } + // ES LKAS + if (addr == 802) { + return -1; + } return 0; // Main CAN } diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h index 02fcb36e5..cbc838608 100644 --- a/panda/board/safety/safety_toyota.h +++ b/panda/board/safety/safety_toyota.h @@ -172,7 +172,9 @@ static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) { if ((bus_num == 0 || bus_num == 2) && toyota_camera_forwarded && !toyota_giraffe_switch_1) { int addr = to_fwd->RIR>>21; bool is_lkas_msg = (addr == 0x2E4 || addr == 0x412) && bus_num == 2; - return is_lkas_msg? -1 : (uint8_t)(~bus_num & 0x2); + // in TSSP 2.0 the camera does ACC as well, so filter 0x343 + bool is_acc_msg = (addr == 0x343 && bus_num == 2); + return (is_lkas_msg || is_acc_msg)? -1 : (uint8_t)(~bus_num & 0x2); } return -1; } diff --git a/panda/examples/query_vin_and_stats.py b/panda/examples/query_vin_and_stats.py index cd2185b4a..09a6289bf 100755 --- a/panda/examples/query_vin_and_stats.py +++ b/panda/examples/query_vin_and_stats.py @@ -3,7 +3,7 @@ import time import struct from panda import Panda from hexdump import hexdump -from isotp import isotp_send, isotp_recv +from panda.isotp import isotp_send, isotp_recv # 0x7e0 = Toyota # 0x18DB33F1 for Honda? diff --git a/phonelibs/bzip2/build.txt b/phonelibs/bzip2/build.txt new file mode 100644 index 000000000..ceb322621 --- /dev/null +++ b/phonelibs/bzip2/build.txt @@ -0,0 +1,6 @@ +git clone https://github.com/enthought/bzip2-1.0.6.git +cd bzip2-1.0.6 +git reset --hard 288acf97a15d558f96c24c89f578b724d6e06b0c + +make libbz2.a +cp libbz2.a ../ diff --git a/phonelibs/bzip2/bzlib.h b/phonelibs/bzip2/bzlib.h new file mode 100644 index 000000000..8277123da --- /dev/null +++ b/phonelibs/bzip2/bzlib.h @@ -0,0 +1,282 @@ + +/*-------------------------------------------------------------*/ +/*--- Public header file for the library. ---*/ +/*--- bzlib.h ---*/ +/*-------------------------------------------------------------*/ + +/* ------------------------------------------------------------------ + This file is part of bzip2/libbzip2, a program and library for + lossless, block-sorting data compression. + + bzip2/libbzip2 version 1.0.6 of 6 September 2010 + Copyright (C) 1996-2010 Julian Seward + + Please read the WARNING, DISCLAIMER and PATENTS sections in the + README file. + + This program is released under the terms of the license contained + in the file LICENSE. + ------------------------------------------------------------------ */ + + +#ifndef _BZLIB_H +#define _BZLIB_H + +#ifdef __cplusplus +extern "C" { +#endif + +#define BZ_RUN 0 +#define BZ_FLUSH 1 +#define BZ_FINISH 2 + +#define BZ_OK 0 +#define BZ_RUN_OK 1 +#define BZ_FLUSH_OK 2 +#define BZ_FINISH_OK 3 +#define BZ_STREAM_END 4 +#define BZ_SEQUENCE_ERROR (-1) +#define BZ_PARAM_ERROR (-2) +#define BZ_MEM_ERROR (-3) +#define BZ_DATA_ERROR (-4) +#define BZ_DATA_ERROR_MAGIC (-5) +#define BZ_IO_ERROR (-6) +#define BZ_UNEXPECTED_EOF (-7) +#define BZ_OUTBUFF_FULL (-8) +#define BZ_CONFIG_ERROR (-9) + +typedef + struct { + char *next_in; + unsigned int avail_in; + unsigned int total_in_lo32; + unsigned int total_in_hi32; + + char *next_out; + unsigned int avail_out; + unsigned int total_out_lo32; + unsigned int total_out_hi32; + + void *state; + + void *(*bzalloc)(void *,int,int); + void (*bzfree)(void *,void *); + void *opaque; + } + bz_stream; + + +#ifndef BZ_IMPORT +#define BZ_EXPORT +#endif + +#ifndef BZ_NO_STDIO +/* Need a definitition for FILE */ +#include +#endif + +#ifdef _WIN32 +# include +# ifdef small + /* windows.h define small to char */ +# undef small +# endif +# ifdef BZ_EXPORT +# define BZ_API(func) WINAPI func +# define BZ_EXTERN extern +# else + /* import windows dll dynamically */ +# define BZ_API(func) (WINAPI * func) +# define BZ_EXTERN +# endif +#else +# define BZ_API(func) func +# define BZ_EXTERN extern +#endif + + +/*-- Core (low-level) library functions --*/ + +BZ_EXTERN int BZ_API(BZ2_bzCompressInit) ( + bz_stream* strm, + int blockSize100k, + int verbosity, + int workFactor + ); + +BZ_EXTERN int BZ_API(BZ2_bzCompress) ( + bz_stream* strm, + int action + ); + +BZ_EXTERN int BZ_API(BZ2_bzCompressEnd) ( + bz_stream* strm + ); + +BZ_EXTERN int BZ_API(BZ2_bzDecompressInit) ( + bz_stream *strm, + int verbosity, + int small + ); + +BZ_EXTERN int BZ_API(BZ2_bzDecompress) ( + bz_stream* strm + ); + +BZ_EXTERN int BZ_API(BZ2_bzDecompressEnd) ( + bz_stream *strm + ); + + + +/*-- High(er) level library functions --*/ + +#ifndef BZ_NO_STDIO +#define BZ_MAX_UNUSED 5000 + +typedef void BZFILE; + +BZ_EXTERN BZFILE* BZ_API(BZ2_bzReadOpen) ( + int* bzerror, + FILE* f, + int verbosity, + int small, + void* unused, + int nUnused + ); + +BZ_EXTERN void BZ_API(BZ2_bzReadClose) ( + int* bzerror, + BZFILE* b + ); + +BZ_EXTERN void BZ_API(BZ2_bzReadGetUnused) ( + int* bzerror, + BZFILE* b, + void** unused, + int* nUnused + ); + +BZ_EXTERN int BZ_API(BZ2_bzRead) ( + int* bzerror, + BZFILE* b, + void* buf, + int len + ); + +BZ_EXTERN BZFILE* BZ_API(BZ2_bzWriteOpen) ( + int* bzerror, + FILE* f, + int blockSize100k, + int verbosity, + int workFactor + ); + +BZ_EXTERN void BZ_API(BZ2_bzWrite) ( + int* bzerror, + BZFILE* b, + void* buf, + int len + ); + +BZ_EXTERN void BZ_API(BZ2_bzWriteClose) ( + int* bzerror, + BZFILE* b, + int abandon, + unsigned int* nbytes_in, + unsigned int* nbytes_out + ); + +BZ_EXTERN void BZ_API(BZ2_bzWriteClose64) ( + int* bzerror, + BZFILE* b, + int abandon, + unsigned int* nbytes_in_lo32, + unsigned int* nbytes_in_hi32, + unsigned int* nbytes_out_lo32, + unsigned int* nbytes_out_hi32 + ); +#endif + + +/*-- Utility functions --*/ + +BZ_EXTERN int BZ_API(BZ2_bzBuffToBuffCompress) ( + char* dest, + unsigned int* destLen, + char* source, + unsigned int sourceLen, + int blockSize100k, + int verbosity, + int workFactor + ); + +BZ_EXTERN int BZ_API(BZ2_bzBuffToBuffDecompress) ( + char* dest, + unsigned int* destLen, + char* source, + unsigned int sourceLen, + int small, + int verbosity + ); + + +/*-- + Code contributed by Yoshioka Tsuneo (tsuneo@rr.iij4u.or.jp) + to support better zlib compatibility. + This code is not _officially_ part of libbzip2 (yet); + I haven't tested it, documented it, or considered the + threading-safeness of it. + If this code breaks, please contact both Yoshioka and me. +--*/ + +BZ_EXTERN const char * BZ_API(BZ2_bzlibVersion) ( + void + ); + +#ifndef BZ_NO_STDIO +BZ_EXTERN BZFILE * BZ_API(BZ2_bzopen) ( + const char *path, + const char *mode + ); + +BZ_EXTERN BZFILE * BZ_API(BZ2_bzdopen) ( + int fd, + const char *mode + ); + +BZ_EXTERN int BZ_API(BZ2_bzread) ( + BZFILE* b, + void* buf, + int len + ); + +BZ_EXTERN int BZ_API(BZ2_bzwrite) ( + BZFILE* b, + void* buf, + int len + ); + +BZ_EXTERN int BZ_API(BZ2_bzflush) ( + BZFILE* b + ); + +BZ_EXTERN void BZ_API(BZ2_bzclose) ( + BZFILE* b + ); + +BZ_EXTERN const char * BZ_API(BZ2_bzerror) ( + BZFILE *b, + int *errnum + ); +#endif + +#ifdef __cplusplus +} +#endif + +#endif + +/*-------------------------------------------------------------*/ +/*--- end bzlib.h ---*/ +/*-------------------------------------------------------------*/ diff --git a/phonelibs/bzip2/libbz2.a b/phonelibs/bzip2/libbz2.a new file mode 100644 index 000000000..0efccceb1 Binary files /dev/null and b/phonelibs/bzip2/libbz2.a differ diff --git a/phonelibs/install_capnp.sh b/phonelibs/install_capnp.sh new file mode 100755 index 000000000..b83e1ffda --- /dev/null +++ b/phonelibs/install_capnp.sh @@ -0,0 +1,39 @@ +set -e +echo "Installing capnp" + +cd /tmp +VERSION=0.6.1 +wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz +tar xvf capnproto-c++-${VERSION}.tar.gz +cd capnproto-c++-${VERSION} +CXXFLAGS="-fPIC" ./configure + +make -j4 + +# manually build binaries statically +g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread + +g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread + +g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread + +cp .libs/capnp /usr/local/bin/ +ln -s /usr/local/bin/capnp /usr/local/bin/capnpc +cp .libs/capnpc-c++ /usr/local/bin/ +cp .libs/capnpc-capnp /usr/local/bin/ +cp .libs/*.a /usr/local/lib + +cd /tmp +echo "Installing c-capnp" +git clone https://github.com/commaai/c-capnproto.git +cd c-capnproto +git submodule update --init --recursive +autoreconf -f -i -s +CXXFLAGS="-fPIC" ./configure +make -j4 + +# manually build binaries statically +gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a + +cp .libs/capnpc-c /usr/local/bin/ +cp .libs/*.a /usr/local/lib diff --git a/phonelibs/zmq/x64/include/czmq.h b/phonelibs/zmq/x64/include/czmq.h new file mode 100644 index 000000000..dbf1fe5e4 --- /dev/null +++ b/phonelibs/zmq/x64/include/czmq.h @@ -0,0 +1,39 @@ +/* ========================================================================= + CZMQ - a high-level binding in C for ZeroMQ + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= + + "Tell them I was a writer. + A maker of software. + A humanist. A father. + And many things. + But above all, a writer. + Thank You. :) + - Pieter Hintjens +*/ + +#ifndef __CZMQ_H_INCLUDED__ +#define __CZMQ_H_INCLUDED__ + +// These are signatures for handler functions that customize the +// behavior of CZMQ containers. These are shared between all CZMQ +// container types. + +// -- destroy an item +typedef void (czmq_destructor) (void **item); +// -- duplicate an item +typedef void *(czmq_duplicator) (const void *item); +// - compare two items, for sorting +typedef int (czmq_comparator) (const void *item1, const void *item2); + +// Include the project library file +#include "czmq_library.h" + +#endif diff --git a/phonelibs/zmq/x64/include/czmq_library.h b/phonelibs/zmq/x64/include/czmq_library.h new file mode 100644 index 000000000..89dc4eb91 --- /dev/null +++ b/phonelibs/zmq/x64/include/czmq_library.h @@ -0,0 +1,178 @@ +/* ========================================================================= + czmq - generated layer of public API + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +################################################################################ +# THIS FILE IS 100% GENERATED BY ZPROJECT; DO NOT EDIT EXCEPT EXPERIMENTALLY # +# Read the zproject/README.md for information about making permanent changes. # +################################################################################ + ========================================================================= +*/ + +#ifndef CZMQ_LIBRARY_H_INCLUDED +#define CZMQ_LIBRARY_H_INCLUDED + +// Set up environment for the application +#include "czmq_prelude.h" + +// External dependencies +#include + +// CZMQ version macros for compile-time API detection +#define CZMQ_VERSION_MAJOR 4 +#define CZMQ_VERSION_MINOR 0 +#define CZMQ_VERSION_PATCH 2 + +#define CZMQ_MAKE_VERSION(major, minor, patch) \ + ((major) * 10000 + (minor) * 100 + (patch)) +#define CZMQ_VERSION \ + CZMQ_MAKE_VERSION(CZMQ_VERSION_MAJOR, CZMQ_VERSION_MINOR, CZMQ_VERSION_PATCH) + +#if defined (__WINDOWS__) +# if defined CZMQ_STATIC +# define CZMQ_EXPORT +# elif defined CZMQ_INTERNAL_BUILD +# if defined DLL_EXPORT +# define CZMQ_EXPORT __declspec(dllexport) +# else +# define CZMQ_EXPORT +# endif +# elif defined CZMQ_EXPORTS +# define CZMQ_EXPORT __declspec(dllexport) +# else +# define CZMQ_EXPORT __declspec(dllimport) +# endif +# define CZMQ_PRIVATE +#else +# define CZMQ_EXPORT +# if (defined __GNUC__ && __GNUC__ >= 4) || defined __INTEL_COMPILER +# define CZMQ_PRIVATE __attribute__ ((visibility ("hidden"))) +# else +# define CZMQ_PRIVATE +# endif +#endif + +// Opaque class structures to allow forward references +// These classes are stable or legacy and built in all releases +typedef struct _zactor_t zactor_t; +#define ZACTOR_T_DEFINED +typedef struct _zarmour_t zarmour_t; +#define ZARMOUR_T_DEFINED +typedef struct _zcert_t zcert_t; +#define ZCERT_T_DEFINED +typedef struct _zcertstore_t zcertstore_t; +#define ZCERTSTORE_T_DEFINED +typedef struct _zchunk_t zchunk_t; +#define ZCHUNK_T_DEFINED +typedef struct _zclock_t zclock_t; +#define ZCLOCK_T_DEFINED +typedef struct _zconfig_t zconfig_t; +#define ZCONFIG_T_DEFINED +typedef struct _zdigest_t zdigest_t; +#define ZDIGEST_T_DEFINED +typedef struct _zdir_t zdir_t; +#define ZDIR_T_DEFINED +typedef struct _zdir_patch_t zdir_patch_t; +#define ZDIR_PATCH_T_DEFINED +typedef struct _zfile_t zfile_t; +#define ZFILE_T_DEFINED +typedef struct _zframe_t zframe_t; +#define ZFRAME_T_DEFINED +typedef struct _zhash_t zhash_t; +#define ZHASH_T_DEFINED +typedef struct _zhashx_t zhashx_t; +#define ZHASHX_T_DEFINED +typedef struct _ziflist_t ziflist_t; +#define ZIFLIST_T_DEFINED +typedef struct _zlist_t zlist_t; +#define ZLIST_T_DEFINED +typedef struct _zlistx_t zlistx_t; +#define ZLISTX_T_DEFINED +typedef struct _zloop_t zloop_t; +#define ZLOOP_T_DEFINED +typedef struct _zmsg_t zmsg_t; +#define ZMSG_T_DEFINED +typedef struct _zpoller_t zpoller_t; +#define ZPOLLER_T_DEFINED +typedef struct _zsock_t zsock_t; +#define ZSOCK_T_DEFINED +typedef struct _zstr_t zstr_t; +#define ZSTR_T_DEFINED +typedef struct _zuuid_t zuuid_t; +#define ZUUID_T_DEFINED +typedef struct _zauth_t zauth_t; +#define ZAUTH_T_DEFINED +typedef struct _zbeacon_t zbeacon_t; +#define ZBEACON_T_DEFINED +typedef struct _zgossip_t zgossip_t; +#define ZGOSSIP_T_DEFINED +typedef struct _zmonitor_t zmonitor_t; +#define ZMONITOR_T_DEFINED +typedef struct _zproxy_t zproxy_t; +#define ZPROXY_T_DEFINED +typedef struct _zrex_t zrex_t; +#define ZREX_T_DEFINED +typedef struct _zsys_t zsys_t; +#define ZSYS_T_DEFINED +// Draft classes are by default not built in stable releases +#ifdef CZMQ_BUILD_DRAFT_API +typedef struct _zproc_t zproc_t; +#define ZPROC_T_DEFINED +typedef struct _ztimerset_t ztimerset_t; +#define ZTIMERSET_T_DEFINED +typedef struct _ztrie_t ztrie_t; +#define ZTRIE_T_DEFINED +#endif // CZMQ_BUILD_DRAFT_API + + +// Public classes, each with its own header file +#include "zactor.h" +#include "zarmour.h" +#include "zcert.h" +#include "zcertstore.h" +#include "zchunk.h" +#include "zclock.h" +#include "zconfig.h" +#include "zdigest.h" +#include "zdir.h" +#include "zdir_patch.h" +#include "zfile.h" +#include "zframe.h" +#include "zhash.h" +#include "zhashx.h" +#include "ziflist.h" +#include "zlist.h" +#include "zlistx.h" +#include "zloop.h" +#include "zmsg.h" +#include "zpoller.h" +#include "zsock.h" +#include "zstr.h" +#include "zuuid.h" +#include "zauth.h" +#include "zbeacon.h" +#include "zgossip.h" +#include "zmonitor.h" +#include "zproxy.h" +#include "zrex.h" +#include "zsys.h" +#ifdef CZMQ_BUILD_DRAFT_API +#include "zproc.h" +#include "ztimerset.h" +#include "ztrie.h" +#endif // CZMQ_BUILD_DRAFT_API + +#endif +/* +################################################################################ +# THIS FILE IS 100% GENERATED BY ZPROJECT; DO NOT EDIT EXCEPT EXPERIMENTALLY # +# Read the zproject/README.md for information about making permanent changes. # +################################################################################ +*/ diff --git a/phonelibs/zmq/x64/include/czmq_prelude.h b/phonelibs/zmq/x64/include/czmq_prelude.h new file mode 100644 index 000000000..534f47023 --- /dev/null +++ b/phonelibs/zmq/x64/include/czmq_prelude.h @@ -0,0 +1,647 @@ +/* ========================================================================= + czmq_prelude.h - CZMQ environment + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __CZMQ_PRELUDE_H_INCLUDED__ +#define __CZMQ_PRELUDE_H_INCLUDED__ + +//- Establish the compiler and computer system ------------------------------ +/* + * Defines zero or more of these symbols, for use in any non-portable + * code: + * + * __WINDOWS__ Microsoft C/C++ with Windows calls + * __MSDOS__ System is MS-DOS (set if __WINDOWS__ set) + * __VMS__ System is VAX/VMS or Alpha/OpenVMS + * __UNIX__ System is UNIX + * __OS2__ System is OS/2 + * + * __IS_32BIT__ OS/compiler is 32 bits + * __IS_64BIT__ OS/compiler is 64 bits + * + * When __UNIX__ is defined, we also define exactly one of these: + * + * __UTYPE_AUX Apple AUX + * __UTYPE_BEOS BeOS + * __UTYPE_BSDOS BSD/OS + * __UTYPE_DECALPHA Digital UNIX (Alpha) + * __UTYPE_IBMAIX IBM RS/6000 AIX + * __UTYPE_FREEBSD FreeBSD + * __UTYPE_HPUX HP/UX + * __UTYPE_ANDROID Android + * __UTYPE_LINUX Linux + * __UTYPE_GNU GNU/Hurd + * __UTYPE_MIPS MIPS (BSD 4.3/System V mixture) + * __UTYPE_NETBSD NetBSD + * __UTYPE_NEXT NeXT + * __UTYPE_OPENBSD OpenBSD + * __UTYPE_OSX Apple Macintosh OS X + * __UTYPE_IOS Apple iOS + * __UTYPE_QNX QNX + * __UTYPE_IRIX Silicon Graphics IRIX + * __UTYPE_SINIX SINIX-N (Siemens-Nixdorf Unix) + * __UTYPE_SUNOS SunOS + * __UTYPE_SUNSOLARIS Sun Solaris + * __UTYPE_UNIXWARE SCO UnixWare + * ... these are the ones I know about so far. + * __UTYPE_GENERIC Any other UNIX + * + * When __VMS__ is defined, we may define one or more of these: + * + * __VMS_XOPEN Supports XOPEN functions + */ + +#if (defined (__64BIT__) || defined (__x86_64__)) +# define __IS_64BIT__ // May have 64-bit OS/compiler +#else +# define __IS_32BIT__ // Else assume 32-bit OS/compiler +#endif + +#if (defined WIN32 || defined _WIN32) +# undef __WINDOWS__ +# define __WINDOWS__ +# undef __MSDOS__ +# define __MSDOS__ +#endif + +#if (defined WINDOWS || defined _WINDOWS || defined __WINDOWS__) +# undef __WINDOWS__ +# define __WINDOWS__ +# undef __MSDOS__ +# define __MSDOS__ +// Stop cheeky warnings about "deprecated" functions like fopen +# if _MSC_VER >= 1500 +# undef _CRT_SECURE_NO_DEPRECATE +# define _CRT_SECURE_NO_DEPRECATE +# pragma warning(disable: 4996) +# endif +#endif + +// MSDOS Microsoft C +// _MSC_VER Microsoft C +#if (defined (MSDOS) || defined (_MSC_VER)) +# undef __MSDOS__ +# define __MSDOS__ +# if (defined (_DEBUG) && !defined (DEBUG)) +# define DEBUG +# endif +#endif + +#if (defined (__EMX__) && defined (__i386__)) +# undef __OS2__ +# define __OS2__ +#endif + +// VMS VAX C (VAX/VMS) +// __VMS Dec C (Alpha/OpenVMS) +// __vax__ gcc +#if (defined (VMS) || defined (__VMS) || defined (__vax__)) +# undef __VMS__ +# define __VMS__ +# if (__VMS_VER >= 70000000) +# define __VMS_XOPEN +# endif +#endif + +// Try to define a __UTYPE_xxx symbol... +// unix SunOS at least +// __unix__ gcc +// _POSIX_SOURCE is various UNIX systems, maybe also VAX/VMS +#if (defined (unix) || defined (__unix__) || defined (_POSIX_SOURCE)) +# if (!defined (__VMS__)) +# undef __UNIX__ +# define __UNIX__ +# if (defined (__alpha)) // Digital UNIX is 64-bit +# undef __IS_32BIT__ +# define __IS_64BIT__ +# define __UTYPE_DECALPHA +# endif +# endif +#endif + +#if (defined (_AUX)) +# define __UTYPE_AUX +# define __UNIX__ +#elif (defined (__BEOS__)) +# define __UTYPE_BEOS +# define __UNIX__ +#elif (defined (__hpux)) +# define __UTYPE_HPUX +# define __UNIX__ +# define _INCLUDE_HPUX_SOURCE +# define _INCLUDE_XOPEN_SOURCE +# define _INCLUDE_POSIX_SOURCE +#elif (defined (_AIX) || defined (AIX)) +# define __UTYPE_IBMAIX +# define __UNIX__ +#elif (defined (BSD) || defined (bsd)) +# define __UTYPE_BSDOS +# define __UNIX__ +#elif (defined (__ANDROID__)) +# define __UTYPE_ANDROID +# define __UNIX__ +#elif (defined (LINUX) || defined (linux) || defined (__linux__)) +# define __UTYPE_LINUX +# define __UNIX__ +# ifndef __NO_CTYPE +# define __NO_CTYPE // Suppress warnings on tolower() +# endif +# ifndef _DEFAULT_SOURCE +# define _DEFAULT_SOURCE // Include stuff from 4.3 BSD Unix +# endif +#elif (defined (__GNU__)) +# define __UTYPE_GNU +# define __UNIX__ +#elif (defined (Mips)) +# define __UTYPE_MIPS +# define __UNIX__ +#elif (defined (FreeBSD) || defined (__FreeBSD__)) +# define __UTYPE_FREEBSD +# define __UNIX__ +#elif (defined (NetBSD) || defined (__NetBSD__)) +# define __UTYPE_NETBSD +# define __UNIX__ +#elif (defined (OpenBSD) || defined (__OpenBSD__)) +# define __UTYPE_OPENBSD +# define __UNIX__ +#elif (defined (APPLE) || defined (__APPLE__)) +# include +# define __UNIX__ +# if TARGET_OS_IPHONE || TARGET_IPHONE_SIMULATOR +# define __UTYPE_IOS +# else +# define __UTYPE_OSX +# endif +#elif (defined (NeXT)) +# define __UTYPE_NEXT +# define __UNIX__ +#elif (defined (__QNX__)) +# define __UTYPE_QNX +# define __UNIX__ +#elif (defined (sgi)) +# define __UTYPE_IRIX +# define __UNIX__ +#elif (defined (sinix)) +# define __UTYPE_SINIX +# define __UNIX__ +#elif (defined (SOLARIS) || defined (__SVR4)) || defined (SVR4) +# define __UTYPE_SUNSOLARIS +# define __UNIX__ +#elif (defined (SUNOS) || defined (SUN) || defined (sun)) +# define __UTYPE_SUNOS +# define __UNIX__ +#elif (defined (__USLC__) || defined (UnixWare)) +# define __UTYPE_UNIXWARE +# define __UNIX__ +#elif (defined (__CYGWIN__)) +# define __UTYPE_CYGWIN +# define __UNIX__ +#elif (defined (__UNIX__)) +# define __UTYPE_GENERIC +#endif + +//- Always include ZeroMQ headers ------------------------------------------- + +#include "zmq.h" +#if (ZMQ_VERSION < ZMQ_MAKE_VERSION (4, 2, 0)) +# include "zmq_utils.h" +#endif + +//- Standard ANSI include files --------------------------------------------- + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +//- System-specific include files ------------------------------------------- + +#if (defined (__MSDOS__)) +# if (defined (__WINDOWS__)) +# if (_WIN32_WINNT < 0x0600) +# undef _WIN32_WINNT +# define _WIN32_WINNT 0x0600 +# endif +# if (!defined (FD_SETSIZE)) +# define FD_SETSIZE 1024 // Max. filehandles/sockets +# endif +# include +# include +# include +# include +# include // For getnameinfo () +# include // For GetAdaptersAddresses () +# endif +# include +# include +# include +# include +# include +# include +# include +# include +#endif + +#if (defined (__UNIX__)) +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include // Let CZMQ build with libzmq/3.x +# include // Must come before arpa/inet.h +# if (!defined (__UTYPE_ANDROID)) && (!defined (__UTYPE_IBMAIX)) \ + && (!defined (__UTYPE_HPUX)) +# include +# endif +# if defined (__UTYPE_SUNSOLARIS) || defined (__UTYPE_SUNOS) +# include +# endif +# if (!defined (__UTYPE_BEOS)) +# include +# if (!defined (TCP_NODELAY)) +# include +# endif +# endif +# if (defined (__UTYPE_IBMAIX) || defined(__UTYPE_QNX)) +# include +# endif +# if (defined (__UTYPE_BEOS)) +# include +# endif +# if ((defined (_XOPEN_REALTIME) && (_XOPEN_REALTIME >= 1)) \ + || (defined (_POSIX_VERSION) && (_POSIX_VERSION >= 199309L))) +# include +# endif +# if (defined (__UTYPE_OSX) || defined (__UTYPE_IOS)) +# include +# include // For monotonic clocks +# endif +# if (defined (__UTYPE_OSX)) +# include // For _NSGetEnviron() +# endif +# if (defined (__UTYPE_ANDROID)) +# include +# endif +# if (defined (__UTYPE_LINUX) && defined (HAVE_LIBSYSTEMD)) +# include +# endif +#endif + +#if (defined (__VMS__)) +# if (!defined (vaxc)) +# include // Not provided by Vax C +# endif +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +#endif + +#if (defined (__OS2__)) +# include // Required near top +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include +# include // Must come before arpa/inet.h +# include +# include +# if (!defined (TCP_NODELAY)) +# include +# endif +#endif + +// Add missing defines for non-POSIX systems +#ifndef S_IRUSR +# define S_IRUSR S_IREAD +#endif +#ifndef S_IWUSR +# define S_IWUSR S_IWRITE +#endif +#ifndef S_ISDIR +# define S_ISDIR(m) (((m) & S_IFDIR) != 0) +#endif +#ifndef S_ISREG +# define S_ISREG(m) (((m) & S_IFREG) != 0) +#endif + + +//- Check compiler data type sizes ------------------------------------------ + +#if (UCHAR_MAX != 0xFF) +# error "Cannot compile: must change definition of 'byte'." +#endif +#if (USHRT_MAX != 0xFFFFU) +# error "Cannot compile: must change definition of 'dbyte'." +#endif +#if (UINT_MAX != 0xFFFFFFFFU) +# error "Cannot compile: must change definition of 'qbyte'." +#endif + +//- Data types -------------------------------------------------------------- + +typedef unsigned char byte; // Single unsigned byte = 8 bits +typedef unsigned short dbyte; // Double byte = 16 bits +typedef unsigned int qbyte; // Quad byte = 32 bits +typedef struct sockaddr_in inaddr_t; // Internet socket address structure +typedef struct sockaddr_in6 in6addr_t; // Internet 6 socket address structure + +// Common structure to hold inaddr_t and in6addr_t with length +typedef struct { + union { + inaddr_t __addr; // IPv4 address + in6addr_t __addr6; // IPv6 address + } __inaddr_u; +#define ipv4addr __inaddr_u.__addr +#define ipv6addr __inaddr_u.__addr6 + int inaddrlen; +} inaddr_storage_t; + +//- Inevitable macros ------------------------------------------------------- + +#define streq(s1,s2) (!strcmp ((s1), (s2))) +#define strneq(s1,s2) (strcmp ((s1), (s2))) + +// Provide random number from 0..(num-1) +// Note that (at least in Solaris) while rand() returns an int limited by +// RAND_MAX, random() returns a 32-bit value all filled with random bits. +#if (defined (__WINDOWS__)) || (defined (__UTYPE_IBMAIX)) \ + || (defined (__UTYPE_HPUX)) || (defined (__UTYPE_SUNOS)) || (defined (__UTYPE_SOLARIS)) +# define randof(num) (int) ((float) (num) * rand () / (RAND_MAX + 1.0)) +#else +# if defined(RAND_MAX) +# define randof(num) (int) ((float) (num) * (random () % RAND_MAX) / (RAND_MAX + 1.0)) +# else +# define randof(num) (int) ((float) (num) * (uint32_t)random () / (UINT32_MAX + 1.0)) +# endif +#endif + +// Windows MSVS doesn't have stdbool +#if (defined (_MSC_VER)) +# if (!defined (__cplusplus) && (!defined (true))) +# define true 1 +# define false 0 + typedef char bool; +# endif +#else +# include +#endif + +//- A number of POSIX and C99 keywords and data types ----------------------- +// CZMQ uses uint for array indices; equivalent to unsigned int, but more +// convenient in code. We define it in czmq_prelude.h on systems that do +// not define it by default. + +#if (defined (__WINDOWS__)) +# if (!defined (__cplusplus) && (!defined (inline))) +# define inline __inline +# endif +# define strtoull _strtoui64 +# define atoll _atoi64 +# define srandom srand +# define TIMEZONE _timezone +# if (!defined (__MINGW32__)) +# define snprintf _snprintf +# define vsnprintf _vsnprintf +# endif + typedef unsigned long ulong; + typedef unsigned int uint; +# if (!defined (__MINGW32__)) + typedef int mode_t; +# if !defined (_SSIZE_T_DEFINED) +typedef intptr_t ssize_t; +# define _SSIZE_T_DEFINED +# endif +# endif +# if ((!defined (__MINGW32__) \ + || (defined (__MINGW32__) && defined (__IS_64BIT__))) \ + && !defined (ZMQ_DEFINED_STDINT)) + typedef __int8 int8_t; + typedef __int16 int16_t; + typedef __int32 int32_t; + typedef __int64 int64_t; + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + typedef unsigned __int64 uint64_t; +# endif + typedef uint32_t in_addr_t; +# if (!defined (PRId8)) +# define PRId8 "d" +# endif +# if (!defined (PRId16)) +# define PRId16 "d" +# endif +# if (!defined (PRId32)) +# define PRId32 "d" +# endif +# if (!defined (PRId64)) +# define PRId64 "I64d" +# endif +# if (!defined (PRIu8)) +# define PRIu8 "u" +# endif +# if (!defined (PRIu16)) +# define PRIu16 "u" +# endif +# if (!defined (PRIu32)) +# define PRIu32 "u" +# endif +# if (!defined (PRIu64)) +# define PRIu64 "I64u" +# endif +# if (!defined (va_copy)) + // MSVC does not support C99's va_copy so we use a regular assignment +# define va_copy(dest,src) (dest) = (src) +# endif +#elif (defined (__UTYPE_OSX)) + typedef unsigned long ulong; + typedef unsigned int uint; + // This fixes header-order dependence problem with some Linux versions +#elif (defined (__UTYPE_LINUX)) +# if (__STDC_VERSION__ >= 199901L && !defined (__USE_MISC)) + typedef unsigned int uint; +# endif +#endif + +//- Non-portable declaration specifiers ------------------------------------- + +// For thread-local storage +#if defined (__WINDOWS__) +# define CZMQ_THREADLS __declspec(thread) +#else +# define CZMQ_THREADLS __thread +#endif + +// Replacement for malloc() which asserts if we run out of heap, and +// which zeroes the allocated block. +static inline void * +safe_malloc (size_t size, const char *file, unsigned line) +{ +// printf ("%s:%u %08d\n", file, line, (int) size); + void *mem = calloc (1, size); + if (mem == NULL) { + fprintf (stderr, "FATAL ERROR at %s:%u\n", file, line); + fprintf (stderr, "OUT OF MEMORY (malloc returned NULL)\n"); + fflush (stderr); + abort (); + } + return mem; +} + +// Define _ZMALLOC_DEBUG if you need to trace memory leaks using e.g. mtrace, +// otherwise all allocations will claim to come from czmq_prelude.h. For best +// results, compile all classes so you see dangling object allocations. +// _ZMALLOC_PEDANTIC does the same thing, but its intention is to propagate +// out of memory condition back up the call stack. +#if defined (_ZMALLOC_DEBUG) || defined (_ZMALLOC_PEDANTIC) +# define zmalloc(size) calloc(1,(size)) +#else +# define zmalloc(size) safe_malloc((size), __FILE__, __LINE__) +#endif + +// GCC supports validating format strings for functions that act like printf +#if defined (__GNUC__) && (__GNUC__ >= 2) +# define CHECK_PRINTF(a) __attribute__((format (printf, a, a + 1))) +#else +# define CHECK_PRINTF(a) +#endif + +// Lets us write code that compiles both on Windows and normal platforms +#if !defined (__WINDOWS__) +typedef int SOCKET; +# define closesocket close +# define INVALID_SOCKET -1 +# define SOCKET_ERROR -1 +# define O_BINARY 0 +#endif + +//- Include non-portable header files based on platform.h ------------------- + +#if defined (HAVE_LINUX_WIRELESS_H) +# include +// This would normally come from net/if.h +unsigned int if_nametoindex (const char *ifname); +#else +# if defined (HAVE_NET_IF_H) +# include +# endif +# if defined (HAVE_NET_IF_MEDIA_H) +# include +# endif +#endif + +#if defined (__WINDOWS__) && !defined (HAVE_UUID) +# define HAVE_UUID 1 +#endif +#if defined (__UTYPE_OSX) && !defined (HAVE_UUID) +# define HAVE_UUID 1 +#endif +#if defined (HAVE_UUID) +# if defined (__UTYPE_FREEBSD) || defined (__UTYPE_NETBSD) +# include +# elif defined __UTYPE_HPUX +# include +# elif defined (__UNIX__) +# include +# endif +#endif + +// ZMQ compatibility macros + +#if ZMQ_VERSION_MAJOR == 4 +# define ZMQ_POLL_MSEC 1 // zmq_poll is msec + +#elif ZMQ_VERSION_MAJOR == 3 +# define ZMQ_POLL_MSEC 1 // zmq_poll is msec +# if ZMQ_VERSION_MINOR < 2 +# define zmq_ctx_new zmq_init +# endif +# define zmq_ctx_term zmq_term + +#elif ZMQ_VERSION_MAJOR == 2 +# define ZMQ_POLL_MSEC 1000 // zmq_poll is usec +# define zmq_sendmsg zmq_send // Smooth out 2.x changes +# define zmq_recvmsg zmq_recv +# define zmq_ctx_new zmq_init +# define zmq_ctx_term zmq_term +# define zmq_msg_send(m,s,f) zmq_sendmsg ((s),(m),(f)) +# define zmq_msg_recv(m,s,f) zmq_recvmsg ((s),(m),(f)) + // Older libzmq APIs may be missing some aspects of libzmq v3.0 +# ifndef ZMQ_ROUTER +# define ZMQ_ROUTER ZMQ_XREP +# endif +# ifndef ZMQ_DEALER +# define ZMQ_DEALER ZMQ_XREQ +# endif +# ifndef ZMQ_DONTWAIT +# define ZMQ_DONTWAIT ZMQ_NOBLOCK +# endif +# ifndef ZMQ_XSUB +# error "please upgrade your libzmq from http://zeromq.org" +# endif +# if ZMQ_VERSION_MINOR == 0 \ + || (ZMQ_VERSION_MINOR == 1 && ZMQ_VERSION_PATCH < 7) +# error "CZMQ requires at least libzmq/2.1.7 stable" +# endif +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zactor.h b/phonelibs/zmq/x64/include/zactor.h new file mode 100644 index 000000000..c865c65da --- /dev/null +++ b/phonelibs/zmq/x64/include/zactor.h @@ -0,0 +1,76 @@ +/* ========================================================================= + zactor - actor + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZACTOR_H_INCLUDED__ +#define __ZACTOR_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zactor.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Actors get a pipe and arguments from caller +typedef void (zactor_fn) ( + zsock_t *pipe, void *args); + +// Create a new actor passing arbitrary arguments reference. +CZMQ_EXPORT zactor_t * + zactor_new (zactor_fn task, void *args); + +// Destroy an actor. +CZMQ_EXPORT void + zactor_destroy (zactor_t **self_p); + +// Send a zmsg message to the actor, take ownership of the message +// and destroy when it has been sent. +CZMQ_EXPORT int + zactor_send (zactor_t *self, zmsg_t **msg_p); + +// Receive a zmsg message from the actor. Returns NULL if the actor +// was interrupted before the message could be received, or if there +// was a timeout on the actor. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zmsg_t * + zactor_recv (zactor_t *self); + +// Probe the supplied object, and report if it looks like a zactor_t. +CZMQ_EXPORT bool + zactor_is (void *self); + +// Probe the supplied reference. If it looks like a zactor_t instance, +// return the underlying libzmq actor handle; else if it looks like +// a libzmq actor handle, return the supplied value. +CZMQ_EXPORT void * + zactor_resolve (void *self); + +// Return the actor's zsock handle. Use this when you absolutely need +// to work with the zsock instance rather than the actor. +CZMQ_EXPORT zsock_t * + zactor_sock (zactor_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zactor_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zarmour.h b/phonelibs/zmq/x64/include/zarmour.h new file mode 100644 index 000000000..c7f299f7a --- /dev/null +++ b/phonelibs/zmq/x64/include/zarmour.h @@ -0,0 +1,114 @@ +/* ========================================================================= + zarmour - armoured text encoding and decoding + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZARMOUR_H_INCLUDED__ +#define __ZARMOUR_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zarmour.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +#define ZARMOUR_MODE_BASE64_STD 0 // Standard base 64 +#define ZARMOUR_MODE_BASE64_URL 1 // URL and filename friendly base 64 +#define ZARMOUR_MODE_BASE32_STD 2 // Standard base 32 +#define ZARMOUR_MODE_BASE32_HEX 3 // Extended hex base 32 +#define ZARMOUR_MODE_BASE16 4 // Standard base 16 +#define ZARMOUR_MODE_Z85 5 // Z85 from ZeroMQ RFC 32 + +// Create a new zarmour +CZMQ_EXPORT zarmour_t * + zarmour_new (void); + +// Destroy the zarmour +CZMQ_EXPORT void + zarmour_destroy (zarmour_t **self_p); + +// Encode a stream of bytes into an armoured string. Returns the armoured +// string, or NULL if there was insufficient memory available to allocate +// a new string. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zarmour_encode (zarmour_t *self, const byte *data, size_t size); + +// Decode an armoured string into a chunk. The decoded output is +// null-terminated, so it may be treated as a string, if that's what +// it was prior to encoding. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zchunk_t * + zarmour_decode (zarmour_t *self, const char *data); + +// Get the mode property. +CZMQ_EXPORT int + zarmour_mode (zarmour_t *self); + +// Get printable string for mode. +CZMQ_EXPORT const char * + zarmour_mode_str (zarmour_t *self); + +// Set the mode property. +CZMQ_EXPORT void + zarmour_set_mode (zarmour_t *self, int mode); + +// Return true if padding is turned on. +CZMQ_EXPORT bool + zarmour_pad (zarmour_t *self); + +// Turn padding on or off. Default is on. +CZMQ_EXPORT void + zarmour_set_pad (zarmour_t *self, bool pad); + +// Get the padding character. +CZMQ_EXPORT char + zarmour_pad_char (zarmour_t *self); + +// Set the padding character. +CZMQ_EXPORT void + zarmour_set_pad_char (zarmour_t *self, char pad_char); + +// Return if splitting output into lines is turned on. Default is off. +CZMQ_EXPORT bool + zarmour_line_breaks (zarmour_t *self); + +// Turn splitting output into lines on or off. +CZMQ_EXPORT void + zarmour_set_line_breaks (zarmour_t *self, bool line_breaks); + +// Get the line length used for splitting lines. +CZMQ_EXPORT size_t + zarmour_line_length (zarmour_t *self); + +// Set the line length used for splitting lines. +CZMQ_EXPORT void + zarmour_set_line_length (zarmour_t *self, size_t line_length); + +// Print properties of object +CZMQ_EXPORT void + zarmour_print (zarmour_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zarmour_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zauth.h b/phonelibs/zmq/x64/include/zauth.h new file mode 100644 index 000000000..3e0e59eca --- /dev/null +++ b/phonelibs/zmq/x64/include/zauth.h @@ -0,0 +1,100 @@ +/* ========================================================================= + zauth - authentication for ZeroMQ security mechanisms + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZAUTH_H_INCLUDED__ +#define __ZAUTH_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +#define CURVE_ALLOW_ANY "*" + +// CZMQ v3 API (for use with zsock, not zsocket, which is deprecated). +// +// Create new zauth actor instance. This installs authentication on all +// zsock sockets. Until you add policies, all incoming NULL connections are +// allowed (classic ZeroMQ behaviour), and all PLAIN and CURVE connections +// are denied: +// +// zactor_t *auth = zactor_new (zauth, NULL); +// +// Destroy zauth instance. This removes authentication and allows all +// connections to pass, without authentication: +// +// zactor_destroy (&auth); +// +// Note that all zauth commands are synchronous, so your application always +// waits for a signal from the actor after each command. +// +// Enable verbose logging of commands and activity. Verbose logging can help +// debug non-trivial authentication policies: +// +// zstr_send (auth, "VERBOSE"); +// zsock_wait (auth); +// +// Allow (whitelist) a list of IP addresses. For NULL, all clients from +// these addresses will be accepted. For PLAIN and CURVE, they will be +// allowed to continue with authentication. You can call this method +// multiple times to whitelist more IP addresses. If you whitelist one +// or more addresses, any non-whitelisted addresses are treated as +// blacklisted: +// +// zstr_sendx (auth, "ALLOW", "127.0.0.1", "127.0.0.2", NULL); +// zsock_wait (auth); +// +// Deny (blacklist) a list of IP addresses. For all security mechanisms, +// this rejects the connection without any further authentication. Use +// either a whitelist, or a blacklist, not not both. If you define both +// a whitelist and a blacklist, only the whitelist takes effect: +// +// zstr_sendx (auth, "DENY", "192.168.0.1", "192.168.0.2", NULL); +// zsock_wait (auth); +// +// Configure PLAIN authentication using a plain-text password file. You can +// modify the password file at any time; zauth will reload it automatically +// if modified externally: +// +// zstr_sendx (auth, "PLAIN", filename, NULL); +// zsock_wait (auth); +// +// Configure CURVE authentication, using a directory that holds all public +// client certificates, i.e. their public keys. The certificates must be in +// zcert_save format. You can add and remove certificates in that directory +// at any time. To allow all client keys without checking, specify +// CURVE_ALLOW_ANY for the directory name: +// +// zstr_sendx (auth, "CURVE", directory, NULL); +// zsock_wait (auth); +// +// Configure GSSAPI authentication, using an underlying mechanism (usually +// Kerberos) to establish a secure context and perform mutual authentication: +// +// zstr_sendx (auth, "GSSAPI", NULL); +// zsock_wait (auth); +// +// This is the zauth constructor as a zactor_fn: +CZMQ_EXPORT void + zauth (zsock_t *pipe, void *certstore); + +// Selftest +CZMQ_EXPORT void + zauth_test (bool verbose); +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zbeacon.h b/phonelibs/zmq/x64/include/zbeacon.h new file mode 100644 index 000000000..78917e957 --- /dev/null +++ b/phonelibs/zmq/x64/include/zbeacon.h @@ -0,0 +1,86 @@ +/* ========================================================================= + zbeacon - LAN discovery and presence + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZBEACON_H_INCLUDED__ +#define __ZBEACON_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +// Create new zbeacon actor instance: +// +// zactor_t *beacon = zactor_new (zbeacon, NULL); +// +// Destroy zbeacon instance: +// +// zactor_destroy (&beacon); +// +// Enable verbose logging of commands and activity: +// +// zstr_send (beacon, "VERBOSE"); +// +// Configure beacon to run on specified UDP port, and return the name of +// the host, which can be used as endpoint for incoming connections. To +// force the beacon to operate on a given interface, set the environment +// variable ZSYS_INTERFACE, or call zsys_set_interface() before creating +// the beacon. If the system does not support UDP broadcasts (lacking a +// workable interface), returns an empty hostname: +// +// // Pictures: 's' = C string, 'i' = int +// zsock_send (beacon, "si", "CONFIGURE", port_number); +// char *hostname = zstr_recv (beacon); +// +// Start broadcasting a beacon at a specified interval in msec. The beacon +// data can be at most UDP_FRAME_MAX bytes; this constant is defined in +// zsys.h to be 255: +// +// // Pictures: 'b' = byte * data + size_t size +// zsock_send (beacon, "sbi", "PUBLISH", data, size, interval); +// +// Stop broadcasting the beacon: +// +// zstr_sendx (beacon, "SILENCE", NULL); +// +// Start listening to beacons from peers. The filter is used to do a prefix +// match on received beacons, to remove junk. Note that any received data +// that is identical to our broadcast beacon_data is discarded in any case. +// If the filter size is zero, we get all peer beacons: +// +// zsock_send (beacon, "sb", "SUBSCRIBE", filter_data, filter_size); +// +// Stop listening to other peers +// +// zstr_sendx (beacon, "UNSUBSCRIBE", NULL); +// +// Receive next beacon from a peer. Received beacons are always a 2-frame +// message containing the ipaddress of the sender, and then the binary +// beacon data as published by the sender: +// +// zmsg_t *msg = zmsg_recv (beacon); +// +// This is the zbeacon constructor as a zactor_fn: +CZMQ_EXPORT void + zbeacon (zsock_t *pipe, void *unused); + +// Self test of this class +CZMQ_EXPORT void + zbeacon_test (bool verbose); +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zcert.h b/phonelibs/zmq/x64/include/zcert.h new file mode 100644 index 000000000..3161bc059 --- /dev/null +++ b/phonelibs/zmq/x64/include/zcert.h @@ -0,0 +1,128 @@ +/* ========================================================================= + zcert - work with CURVE security certificates + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZCERT_H_INCLUDED__ +#define __ZCERT_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zcert.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +// Create and initialize a new certificate in memory +CZMQ_EXPORT zcert_t * + zcert_new (void); + +// Accepts public/secret key pair from caller +CZMQ_EXPORT zcert_t * + zcert_new_from (const byte *public_key, const byte *secret_key); + +// Load certificate from file +CZMQ_EXPORT zcert_t * + zcert_load (const char *filename); + +// Destroy a certificate in memory +CZMQ_EXPORT void + zcert_destroy (zcert_t **self_p); + +// Return public part of key pair as 32-byte binary string +CZMQ_EXPORT const byte * + zcert_public_key (zcert_t *self); + +// Return secret part of key pair as 32-byte binary string +CZMQ_EXPORT const byte * + zcert_secret_key (zcert_t *self); + +// Return public part of key pair as Z85 armored string +CZMQ_EXPORT const char * + zcert_public_txt (zcert_t *self); + +// Return secret part of key pair as Z85 armored string +CZMQ_EXPORT const char * + zcert_secret_txt (zcert_t *self); + +// Set certificate metadata from formatted string. +CZMQ_EXPORT void + zcert_set_meta (zcert_t *self, const char *name, const char *format, ...) CHECK_PRINTF (3); + +// Get metadata value from certificate; if the metadata value doesn't +// exist, returns NULL. +CZMQ_EXPORT const char * + zcert_meta (zcert_t *self, const char *name); + +// Get list of metadata fields from certificate. Caller is responsible for +// destroying list. Caller should not modify the values of list items. +CZMQ_EXPORT zlist_t * + zcert_meta_keys (zcert_t *self); + +// Save full certificate (public + secret) to file for persistent storage +// This creates one public file and one secret file (filename + "_secret"). +CZMQ_EXPORT int + zcert_save (zcert_t *self, const char *filename); + +// Save public certificate only to file for persistent storage +CZMQ_EXPORT int + zcert_save_public (zcert_t *self, const char *filename); + +// Save secret certificate only to file for persistent storage +CZMQ_EXPORT int + zcert_save_secret (zcert_t *self, const char *filename); + +// Apply certificate to socket, i.e. use for CURVE security on socket. +// If certificate was loaded from public file, the secret key will be +// undefined, and this certificate will not work successfully. +CZMQ_EXPORT void + zcert_apply (zcert_t *self, void *socket); + +// Return copy of certificate; if certificate is NULL or we exhausted +// heap memory, returns NULL. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zcert_t * + zcert_dup (zcert_t *self); + +// Return true if two certificates have the same keys +CZMQ_EXPORT bool + zcert_eq (zcert_t *self, zcert_t *compare); + +// Print certificate contents to stdout +CZMQ_EXPORT void + zcert_print (zcert_t *self); + +// Self test of this class +CZMQ_EXPORT void + zcert_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Unset certificate metadata. +CZMQ_EXPORT void + zcert_unset_meta (zcert_t *self, const char *name); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +#ifdef __cplusplus +} +#endif + +// Deprecated method aliases +#define zcert_dump(s) zcert_print(s) + +#endif diff --git a/phonelibs/zmq/x64/include/zcertstore.h b/phonelibs/zmq/x64/include/zcertstore.h new file mode 100644 index 000000000..689b228ac --- /dev/null +++ b/phonelibs/zmq/x64/include/zcertstore.h @@ -0,0 +1,92 @@ +/* ========================================================================= + zcertstore - work with CURVE security certificate stores + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZCERTSTORE_H_INCLUDED__ +#define __ZCERTSTORE_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zcertstore.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +// Create a new certificate store from a disk directory, loading and +// indexing all certificates in that location. The directory itself may be +// absent, and created later, or modified at any time. The certificate store +// is automatically refreshed on any zcertstore_lookup() call. If the +// location is specified as NULL, creates a pure-memory store, which you +// can work with by inserting certificates at runtime. +CZMQ_EXPORT zcertstore_t * + zcertstore_new (const char *location); + +// Destroy a certificate store object in memory. Does not affect anything +// stored on disk. +CZMQ_EXPORT void + zcertstore_destroy (zcertstore_t **self_p); + +// Look up certificate by public key, returns zcert_t object if found, +// else returns NULL. The public key is provided in Z85 text format. +CZMQ_EXPORT zcert_t * + zcertstore_lookup (zcertstore_t *self, const char *public_key); + +// Insert certificate into certificate store in memory. Note that this +// does not save the certificate to disk. To do that, use zcert_save() +// directly on the certificate. Takes ownership of zcert_t object. +CZMQ_EXPORT void + zcertstore_insert (zcertstore_t *self, zcert_t **cert_p); + +// Print list of certificates in store to logging facility +CZMQ_EXPORT void + zcertstore_print (zcertstore_t *self); + +// Self test of this class +CZMQ_EXPORT void + zcertstore_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// Loaders retrieve certificates from an arbitrary source. +typedef void (zcertstore_loader) ( + zcertstore_t *self); + +// Destructor for loader state. +typedef void (zcertstore_destructor) ( + void **self_p); + +// *** Draft method, for development use, may change without warning *** +// Override the default disk loader with a custom loader fn. +CZMQ_EXPORT void + zcertstore_set_loader (zcertstore_t *self, zcertstore_loader loader, zcertstore_destructor destructor, void *state); + +// *** Draft method, for development use, may change without warning *** +// Empty certificate hashtable. This wrapper exists to be friendly to bindings, +// which don't usually have access to struct internals. +CZMQ_EXPORT void + zcertstore_empty (zcertstore_t *self); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +#ifdef __cplusplus +} +#endif + +// Deprecated method aliases +#define zcertstore_dump(s) zcertstore_print(s) + +#endif diff --git a/phonelibs/zmq/x64/include/zchunk.h b/phonelibs/zmq/x64/include/zchunk.h new file mode 100644 index 000000000..56f29b161 --- /dev/null +++ b/phonelibs/zmq/x64/include/zchunk.h @@ -0,0 +1,163 @@ +/* ========================================================================= + zchunk - work with memory chunks + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZCHUNK_H_INCLUDED__ +#define __ZCHUNK_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zchunk.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Create a new chunk of the specified size. If you specify the data, it +// is copied into the chunk. If you do not specify the data, the chunk is +// allocated and left empty, and you can then add data using zchunk_append. +CZMQ_EXPORT zchunk_t * + zchunk_new (const void *data, size_t size); + +// Destroy a chunk +CZMQ_EXPORT void + zchunk_destroy (zchunk_t **self_p); + +// Resizes chunk max_size as requested; chunk_cur size is set to zero +CZMQ_EXPORT void + zchunk_resize (zchunk_t *self, size_t size); + +// Return chunk cur size +CZMQ_EXPORT size_t + zchunk_size (zchunk_t *self); + +// Return chunk max size +CZMQ_EXPORT size_t + zchunk_max_size (zchunk_t *self); + +// Return chunk data +CZMQ_EXPORT byte * + zchunk_data (zchunk_t *self); + +// Set chunk data from user-supplied data; truncate if too large. Data may +// be null. Returns actual size of chunk +CZMQ_EXPORT size_t + zchunk_set (zchunk_t *self, const void *data, size_t size); + +// Fill chunk data from user-supplied octet +CZMQ_EXPORT size_t + zchunk_fill (zchunk_t *self, byte filler, size_t size); + +// Append user-supplied data to chunk, return resulting chunk size. If the +// data would exceeded the available space, it is truncated. If you want to +// grow the chunk to accommodate new data, use the zchunk_extend method. +CZMQ_EXPORT size_t + zchunk_append (zchunk_t *self, const void *data, size_t size); + +// Append user-supplied data to chunk, return resulting chunk size. If the +// data would exceeded the available space, the chunk grows in size. +CZMQ_EXPORT size_t + zchunk_extend (zchunk_t *self, const void *data, size_t size); + +// Copy as much data from 'source' into the chunk as possible; returns the +// new size of chunk. If all data from 'source' is used, returns exhausted +// on the source chunk. Source can be consumed as many times as needed until +// it is exhausted. If source was already exhausted, does not change chunk. +CZMQ_EXPORT size_t + zchunk_consume (zchunk_t *self, zchunk_t *source); + +// Returns true if the chunk was exhausted by consume methods, or if the +// chunk has a size of zero. +CZMQ_EXPORT bool + zchunk_exhausted (zchunk_t *self); + +// Read chunk from an open file descriptor +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zchunk_t * + zchunk_read (FILE *handle, size_t bytes); + +// Write chunk to an open file descriptor +CZMQ_EXPORT int + zchunk_write (zchunk_t *self, FILE *handle); + +// Try to slurp an entire file into a chunk. Will read up to maxsize of +// the file. If maxsize is 0, will attempt to read the entire file and +// fail with an assertion if that cannot fit into memory. Returns a new +// chunk containing the file data, or NULL if the file could not be read. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zchunk_t * + zchunk_slurp (const char *filename, size_t maxsize); + +// Create copy of chunk, as new chunk object. Returns a fresh zchunk_t +// object, or null if there was not enough heap memory. If chunk is null, +// returns null. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zchunk_t * + zchunk_dup (zchunk_t *self); + +// Return chunk data encoded as printable hex string. Caller must free +// string when finished with it. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zchunk_strhex (zchunk_t *self); + +// Return chunk data copied into freshly allocated string +// Caller must free string when finished with it. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zchunk_strdup (zchunk_t *self); + +// Return TRUE if chunk body is equal to string, excluding terminator +CZMQ_EXPORT bool + zchunk_streq (zchunk_t *self, const char *string); + +// Transform zchunk into a zframe that can be sent in a message. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zchunk_pack (zchunk_t *self); + +// Transform a zframe into a zchunk. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zchunk_t * + zchunk_unpack (zframe_t *frame); + +// Calculate SHA1 digest for chunk, using zdigest class. +CZMQ_EXPORT const char * + zchunk_digest (zchunk_t *self); + +// Dump chunk to FILE stream, for debugging and tracing. +CZMQ_EXPORT void + zchunk_fprint (zchunk_t *self, FILE *file); + +// Dump message to stderr, for debugging and tracing. +// See zchunk_fprint for details +CZMQ_EXPORT void + zchunk_print (zchunk_t *self); + +// Probe the supplied object, and report if it looks like a zchunk_t. +CZMQ_EXPORT bool + zchunk_is (void *self); + +// Self test of this class. +CZMQ_EXPORT void + zchunk_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/phonelibs/zmq/x64/include/zclock.h b/phonelibs/zmq/x64/include/zclock.h new file mode 100644 index 000000000..eb064162c --- /dev/null +++ b/phonelibs/zmq/x64/include/zclock.h @@ -0,0 +1,73 @@ +/* ========================================================================= + zclock - millisecond clocks and delays + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZCLOCK_H_INCLUDED__ +#define __ZCLOCK_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zclock.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Sleep for a number of milliseconds +CZMQ_EXPORT void + zclock_sleep (int msecs); + +// Return current system clock as milliseconds. Note that this clock can +// jump backwards (if the system clock is changed) so is unsafe to use for +// timers and time offsets. Use zclock_mono for that instead. +CZMQ_EXPORT int64_t + zclock_time (void); + +// Return current monotonic clock in milliseconds. Use this when you compute +// time offsets. The monotonic clock is not affected by system changes and +// so will never be reset backwards, unlike a system clock. +CZMQ_EXPORT int64_t + zclock_mono (void); + +// Return current monotonic clock in microseconds. Use this when you compute +// time offsets. The monotonic clock is not affected by system changes and +// so will never be reset backwards, unlike a system clock. +CZMQ_EXPORT int64_t + zclock_usecs (void); + +// Return formatted date/time as fresh string. Free using zstr_free(). +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zclock_timestr (void); + +// Self test of this class. +CZMQ_EXPORT void + zclock_test (bool verbose); + +// @end + + +// DEPRECATED in favor of zsys logging, see issue #519 +// Print formatted string to stdout, prefixed by date/time and +// terminated with a newline. +CZMQ_EXPORT void + zclock_log (const char *format, ...); + +// Compiler hints +CZMQ_EXPORT void zclock_log (const char *format, ...) CHECK_PRINTF (1); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zconfig.h b/phonelibs/zmq/x64/include/zconfig.h new file mode 100644 index 000000000..df0c70849 --- /dev/null +++ b/phonelibs/zmq/x64/include/zconfig.h @@ -0,0 +1,185 @@ +/* ========================================================================= + zconfig - work with config files written in rfc.zeromq.org/spec:4/ZPL. + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZCONFIG_H_INCLUDED__ +#define __ZCONFIG_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zconfig.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// +typedef int (zconfig_fct) ( + zconfig_t *self, void *arg, int level); + +// Create new config item +CZMQ_EXPORT zconfig_t * + zconfig_new (const char *name, zconfig_t *parent); + +// Load a config tree from a specified ZPL text file; returns a zconfig_t +// reference for the root, if the file exists and is readable. Returns NULL +// if the file does not exist. +CZMQ_EXPORT zconfig_t * + zconfig_load (const char *filename); + +// Equivalent to zconfig_load, taking a format string instead of a fixed +// filename. +CZMQ_EXPORT zconfig_t * + zconfig_loadf (const char *format, ...) CHECK_PRINTF (1); + +// Destroy a config item and all its children +CZMQ_EXPORT void + zconfig_destroy (zconfig_t **self_p); + +// Return name of config item +CZMQ_EXPORT char * + zconfig_name (zconfig_t *self); + +// Return value of config item +CZMQ_EXPORT char * + zconfig_value (zconfig_t *self); + +// Insert or update configuration key with value +CZMQ_EXPORT void + zconfig_put (zconfig_t *self, const char *path, const char *value); + +// Equivalent to zconfig_put, accepting a format specifier and variable +// argument list, instead of a single string value. +CZMQ_EXPORT void + zconfig_putf (zconfig_t *self, const char *path, const char *format, ...) CHECK_PRINTF (3); + +// Get value for config item into a string value; leading slash is optional +// and ignored. +CZMQ_EXPORT char * + zconfig_get (zconfig_t *self, const char *path, const char *default_value); + +// Set config item name, name may be NULL +CZMQ_EXPORT void + zconfig_set_name (zconfig_t *self, const char *name); + +// Set new value for config item. The new value may be a string, a printf +// format, or NULL. Note that if string may possibly contain '%', or if it +// comes from an insecure source, you must use '%s' as the format, followed +// by the string. +CZMQ_EXPORT void + zconfig_set_value (zconfig_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Find our first child, if any +CZMQ_EXPORT zconfig_t * + zconfig_child (zconfig_t *self); + +// Find our first sibling, if any +CZMQ_EXPORT zconfig_t * + zconfig_next (zconfig_t *self); + +// Find a config item along a path; leading slash is optional and ignored. +CZMQ_EXPORT zconfig_t * + zconfig_locate (zconfig_t *self, const char *path); + +// Locate the last config item at a specified depth +CZMQ_EXPORT zconfig_t * + zconfig_at_depth (zconfig_t *self, int level); + +// Execute a callback for each config item in the tree; returns zero if +// successful, else -1. +CZMQ_EXPORT int + zconfig_execute (zconfig_t *self, zconfig_fct handler, void *arg); + +// Add comment to config item before saving to disk. You can add as many +// comment lines as you like. If you use a null format, all comments are +// deleted. +CZMQ_EXPORT void + zconfig_set_comment (zconfig_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Return comments of config item, as zlist. +CZMQ_EXPORT zlist_t * + zconfig_comments (zconfig_t *self); + +// Save a config tree to a specified ZPL text file, where a filename +// "-" means dump to standard output. +CZMQ_EXPORT int + zconfig_save (zconfig_t *self, const char *filename); + +// Equivalent to zconfig_save, taking a format string instead of a fixed +// filename. +CZMQ_EXPORT int + zconfig_savef (zconfig_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Report filename used during zconfig_load, or NULL if none +CZMQ_EXPORT const char * + zconfig_filename (zconfig_t *self); + +// Reload config tree from same file that it was previously loaded from. +// Returns 0 if OK, -1 if there was an error (and then does not change +// existing data). +CZMQ_EXPORT int + zconfig_reload (zconfig_t **self_p); + +// Load a config tree from a memory chunk +CZMQ_EXPORT zconfig_t * + zconfig_chunk_load (zchunk_t *chunk); + +// Save a config tree to a new memory chunk +CZMQ_EXPORT zchunk_t * + zconfig_chunk_save (zconfig_t *self); + +// Load a config tree from a null-terminated string +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zconfig_t * + zconfig_str_load (const char *string); + +// Save a config tree to a new null terminated string +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zconfig_str_save (zconfig_t *self); + +// Return true if a configuration tree was loaded from a file and that +// file has changed in since the tree was loaded. +CZMQ_EXPORT bool + zconfig_has_changed (zconfig_t *self); + +// Print the config file to open stream +CZMQ_EXPORT void + zconfig_fprint (zconfig_t *self, FILE *file); + +// Print properties of object +CZMQ_EXPORT void + zconfig_print (zconfig_t *self); + +// Self test of this class +CZMQ_EXPORT void + zconfig_test (bool verbose); + +// @end + +// Self test of this class +CZMQ_EXPORT void + zconfig_test (bool verbose); + +// Compiler hints +CZMQ_EXPORT void zconfig_set_value (zconfig_t *self, const char *format, ...) CHECK_PRINTF (2); + +#ifdef __cplusplus +} +#endif + +// Deprecated method aliases +#define zconfig_dump(s) zconfig_print(s) +#define zconfig_resolve(s,p,d) zconfig_get((s),(p),(d)) + +#endif diff --git a/phonelibs/zmq/x64/include/zdigest.h b/phonelibs/zmq/x64/include/zdigest.h new file mode 100644 index 000000000..def9e8605 --- /dev/null +++ b/phonelibs/zmq/x64/include/zdigest.h @@ -0,0 +1,65 @@ +/* ========================================================================= + zdigest - provides hashing functions (SHA-1 at present) + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZDIGEST_H_INCLUDED__ +#define __ZDIGEST_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zdigest.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Constructor - creates new digest object, which you use to build up a +// digest by repeatedly calling zdigest_update() on chunks of data. +CZMQ_EXPORT zdigest_t * + zdigest_new (void); + +// Destroy a digest object +CZMQ_EXPORT void + zdigest_destroy (zdigest_t **self_p); + +// Add buffer into digest calculation +CZMQ_EXPORT void + zdigest_update (zdigest_t *self, const byte *buffer, size_t length); + +// Return final digest hash data. If built without crypto support, +// returns NULL. +CZMQ_EXPORT const byte * + zdigest_data (zdigest_t *self); + +// Return final digest hash size +CZMQ_EXPORT size_t + zdigest_size (zdigest_t *self); + +// Return digest as printable hex string; caller should not modify nor +// free this string. After calling this, you may not use zdigest_update() +// on the same digest. If built without crypto support, returns NULL. +CZMQ_EXPORT char * + zdigest_string (zdigest_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zdigest_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zdir.h b/phonelibs/zmq/x64/include/zdir.h new file mode 100644 index 000000000..6c5551b57 --- /dev/null +++ b/phonelibs/zmq/x64/include/zdir.h @@ -0,0 +1,149 @@ +/* ========================================================================= + zdir - work with file-system directories + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZDIR_H_INCLUDED__ +#define __ZDIR_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zdir.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Create a new directory item that loads in the full tree of the specified +// path, optionally located under some parent path. If parent is "-", then +// loads only the top-level directory, and does not use parent as a path. +CZMQ_EXPORT zdir_t * + zdir_new (const char *path, const char *parent); + +// Destroy a directory tree and all children it contains. +CZMQ_EXPORT void + zdir_destroy (zdir_t **self_p); + +// Return directory path +CZMQ_EXPORT const char * + zdir_path (zdir_t *self); + +// Return last modification time for directory. +CZMQ_EXPORT time_t + zdir_modified (zdir_t *self); + +// Return total hierarchy size, in bytes of data contained in all files +// in the directory tree. +CZMQ_EXPORT off_t + zdir_cursize (zdir_t *self); + +// Return directory count +CZMQ_EXPORT size_t + zdir_count (zdir_t *self); + +// Returns a sorted list of zfile objects; Each entry in the list is a pointer +// to a zfile_t item already allocated in the zdir tree. Do not destroy the +// original zdir tree until you are done with this list. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlist_t * + zdir_list (zdir_t *self); + +// Remove directory, optionally including all files that it contains, at +// all levels. If force is false, will only remove the directory if empty. +// If force is true, will remove all files and all subdirectories. +CZMQ_EXPORT void + zdir_remove (zdir_t *self, bool force); + +// Calculate differences between two versions of a directory tree. +// Returns a list of zdir_patch_t patches. Either older or newer may +// be null, indicating the directory is empty/absent. If alias is set, +// generates virtual filename (minus path, plus alias). +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlist_t * + zdir_diff (zdir_t *older, zdir_t *newer, const char *alias); + +// Return full contents of directory as a zdir_patch list. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlist_t * + zdir_resync (zdir_t *self, const char *alias); + +// Load directory cache; returns a hash table containing the SHA-1 digests +// of every file in the tree. The cache is saved between runs in .cache. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zhash_t * + zdir_cache (zdir_t *self); + +// Print contents of directory to open stream +CZMQ_EXPORT void + zdir_fprint (zdir_t *self, FILE *file, int indent); + +// Print contents of directory to stdout +CZMQ_EXPORT void + zdir_print (zdir_t *self, int indent); + +// Create a new zdir_watch actor instance: +// +// zactor_t *watch = zactor_new (zdir_watch, NULL); +// +// Destroy zdir_watch instance: +// +// zactor_destroy (&watch); +// +// Enable verbose logging of commands and activity: +// +// zstr_send (watch, "VERBOSE"); +// +// Subscribe to changes to a directory path: +// +// zsock_send (watch, "ss", "SUBSCRIBE", "directory_path"); +// +// Unsubscribe from changes to a directory path: +// +// zsock_send (watch, "ss", "UNSUBSCRIBE", "directory_path"); +// +// Receive directory changes: +// zsock_recv (watch, "sp", &path, &patches); +// +// // Delete the received data. +// free (path); +// zlist_destroy (&patches); +CZMQ_EXPORT void + zdir_watch (zsock_t *pipe, void *unused); + +// Self test of this class. +CZMQ_EXPORT void + zdir_test (bool verbose); + +// @end + + +// Returns a sorted array of zfile objects; returns a single block of memory, +// that you destroy by calling zstr_free(). Each entry in the array is a pointer +// to a zfile_t item already allocated in the zdir tree. The array ends with +// a null pointer. Do not destroy the original zdir tree until you are done +// with this array. +CZMQ_EXPORT zfile_t ** + zdir_flatten (zdir_t *self); + +// Free a provided string, and nullify the parent pointer. Safe to call on +// a null pointer. +CZMQ_EXPORT void + zdir_flatten_free (zfile_t ***files_p); + +#ifdef __cplusplus +} +#endif + +// Deprecated method aliases +#define zdir_dump(s,i) zdir_print(s,i) + +#endif diff --git a/phonelibs/zmq/x64/include/zdir_patch.h b/phonelibs/zmq/x64/include/zdir_patch.h new file mode 100644 index 000000000..8d15b9aeb --- /dev/null +++ b/phonelibs/zmq/x64/include/zdir_patch.h @@ -0,0 +1,82 @@ +/* ========================================================================= + zdir_patch - work with directory patches + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZDIR_PATCH_H_INCLUDED__ +#define __ZDIR_PATCH_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// un-namespaced enumeration values +#define patch_create ZDIR_PATCH_CREATE +#define patch_delete ZDIR_PATCH_DELETE + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zdir_patch.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +#define ZDIR_PATCH_CREATE 1 // Creates a new file +#define ZDIR_PATCH_DELETE 2 // Delete a file + +// Create new patch +CZMQ_EXPORT zdir_patch_t * + zdir_patch_new (const char *path, zfile_t *file, int op, const char *alias); + +// Destroy a patch +CZMQ_EXPORT void + zdir_patch_destroy (zdir_patch_t **self_p); + +// Create copy of a patch. If the patch is null, or memory was exhausted, +// returns null. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zdir_patch_t * + zdir_patch_dup (zdir_patch_t *self); + +// Return patch file directory path +CZMQ_EXPORT const char * + zdir_patch_path (zdir_patch_t *self); + +// Return patch file item +CZMQ_EXPORT zfile_t * + zdir_patch_file (zdir_patch_t *self); + +// Return operation +CZMQ_EXPORT int + zdir_patch_op (zdir_patch_t *self); + +// Return patch virtual file path +CZMQ_EXPORT const char * + zdir_patch_vpath (zdir_patch_t *self); + +// Calculate hash digest for file (create only) +CZMQ_EXPORT void + zdir_patch_digest_set (zdir_patch_t *self); + +// Return hash digest for patch file +CZMQ_EXPORT const char * + zdir_patch_digest (zdir_patch_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zdir_patch_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zfile.h b/phonelibs/zmq/x64/include/zfile.h new file mode 100644 index 000000000..75c35774b --- /dev/null +++ b/phonelibs/zmq/x64/include/zfile.h @@ -0,0 +1,177 @@ +/* ========================================================================= + zfile - helper functions for working with files. + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZFILE_H_INCLUDED__ +#define __ZFILE_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zfile.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// If file exists, populates properties. CZMQ supports portable symbolic +// links, which are files with the extension ".ln". A symbolic link is a +// text file containing one line, the filename of a target file. Reading +// data from the symbolic link actually reads from the target file. Path +// may be NULL, in which case it is not used. +CZMQ_EXPORT zfile_t * + zfile_new (const char *path, const char *name); + +// Destroy a file item +CZMQ_EXPORT void + zfile_destroy (zfile_t **self_p); + +// Duplicate a file item, returns a newly constructed item. If the file +// is null, or memory was exhausted, returns null. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zfile_t * + zfile_dup (zfile_t *self); + +// Return file name, remove path if provided +CZMQ_EXPORT const char * + zfile_filename (zfile_t *self, const char *path); + +// Refresh file properties from disk; this is not done automatically +// on access methods, otherwise it is not possible to compare directory +// snapshots. +CZMQ_EXPORT void + zfile_restat (zfile_t *self); + +// Return when the file was last modified. If you want this to reflect the +// current situation, call zfile_restat before checking this property. +CZMQ_EXPORT time_t + zfile_modified (zfile_t *self); + +// Return the last-known size of the file. If you want this to reflect the +// current situation, call zfile_restat before checking this property. +CZMQ_EXPORT off_t + zfile_cursize (zfile_t *self); + +// Return true if the file is a directory. If you want this to reflect +// any external changes, call zfile_restat before checking this property. +CZMQ_EXPORT bool + zfile_is_directory (zfile_t *self); + +// Return true if the file is a regular file. If you want this to reflect +// any external changes, call zfile_restat before checking this property. +CZMQ_EXPORT bool + zfile_is_regular (zfile_t *self); + +// Return true if the file is readable by this process. If you want this to +// reflect any external changes, call zfile_restat before checking this +// property. +CZMQ_EXPORT bool + zfile_is_readable (zfile_t *self); + +// Return true if the file is writeable by this process. If you want this +// to reflect any external changes, call zfile_restat before checking this +// property. +CZMQ_EXPORT bool + zfile_is_writeable (zfile_t *self); + +// Check if file has stopped changing and can be safely processed. +// Updates the file statistics from disk at every call. +CZMQ_EXPORT bool + zfile_is_stable (zfile_t *self); + +// Return true if the file was changed on disk since the zfile_t object +// was created, or the last zfile_restat() call made on it. +CZMQ_EXPORT bool + zfile_has_changed (zfile_t *self); + +// Remove the file from disk +CZMQ_EXPORT void + zfile_remove (zfile_t *self); + +// Open file for reading +// Returns 0 if OK, -1 if not found or not accessible +CZMQ_EXPORT int + zfile_input (zfile_t *self); + +// Open file for writing, creating directory if needed +// File is created if necessary; chunks can be written to file at any +// location. Returns 0 if OK, -1 if error. +CZMQ_EXPORT int + zfile_output (zfile_t *self); + +// Read chunk from file at specified position. If this was the last chunk, +// sets the eof property. Returns a null chunk in case of error. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zchunk_t * + zfile_read (zfile_t *self, size_t bytes, off_t offset); + +// Returns true if zfile_read() just read the last chunk in the file. +CZMQ_EXPORT bool + zfile_eof (zfile_t *self); + +// Write chunk to file at specified position +// Return 0 if OK, else -1 +CZMQ_EXPORT int + zfile_write (zfile_t *self, zchunk_t *chunk, off_t offset); + +// Read next line of text from file. Returns a pointer to the text line, +// or NULL if there was nothing more to read from the file. +CZMQ_EXPORT const char * + zfile_readln (zfile_t *self); + +// Close file, if open +CZMQ_EXPORT void + zfile_close (zfile_t *self); + +// Return file handle, if opened +CZMQ_EXPORT FILE * + zfile_handle (zfile_t *self); + +// Calculate SHA1 digest for file, using zdigest class. +CZMQ_EXPORT const char * + zfile_digest (zfile_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zfile_test (bool verbose); + +// @end + + +// @interface +// These methods are deprecated, and now moved to zsys class. +CZMQ_EXPORT bool + zfile_exists (const char *filename); +CZMQ_EXPORT ssize_t + zfile_size (const char *filename); +CZMQ_EXPORT mode_t + zfile_mode (const char *filename); +CZMQ_EXPORT int + zfile_delete (const char *filename); +CZMQ_EXPORT bool + zfile_stable (const char *filename); +CZMQ_EXPORT int + zfile_mkdir (const char *pathname); +CZMQ_EXPORT int + zfile_rmdir (const char *pathname); +CZMQ_EXPORT void + zfile_mode_private (void); +CZMQ_EXPORT void + zfile_mode_default (void); +// @end + +#ifdef __cplusplus +} +#endif + + +#endif // __ZFILE_H_INCLUDED__ diff --git a/phonelibs/zmq/x64/include/zframe.h b/phonelibs/zmq/x64/include/zframe.h new file mode 100644 index 000000000..728093c36 --- /dev/null +++ b/phonelibs/zmq/x64/include/zframe.h @@ -0,0 +1,176 @@ +/* ========================================================================= + zframe - working with single message frames + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZFRAME_H_INCLUDED__ +#define __ZFRAME_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zframe.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +#define ZFRAME_MORE 1 // +#define ZFRAME_REUSE 2 // +#define ZFRAME_DONTWAIT 4 // + +// Create a new frame. If size is not null, allocates the frame data +// to the specified size. If additionally, data is not null, copies +// size octets from the specified data into the frame body. +CZMQ_EXPORT zframe_t * + zframe_new (const void *data, size_t size); + +// Create an empty (zero-sized) frame +CZMQ_EXPORT zframe_t * + zframe_new_empty (void); + +// Create a frame with a specified string content. +CZMQ_EXPORT zframe_t * + zframe_from (const char *string); + +// Receive frame from socket, returns zframe_t object or NULL if the recv +// was interrupted. Does a blocking recv, if you want to not block then use +// zpoller or zloop. +CZMQ_EXPORT zframe_t * + zframe_recv (void *source); + +// Destroy a frame +CZMQ_EXPORT void + zframe_destroy (zframe_t **self_p); + +// Send a frame to a socket, destroy frame after sending. +// Return -1 on error, 0 on success. +CZMQ_EXPORT int + zframe_send (zframe_t **self_p, void *dest, int flags); + +// Return number of bytes in frame data +CZMQ_EXPORT size_t + zframe_size (zframe_t *self); + +// Return address of frame data +CZMQ_EXPORT byte * + zframe_data (zframe_t *self); + +// Return meta data property for frame +// Caller must free string when finished with it. +CZMQ_EXPORT const char * + zframe_meta (zframe_t *self, const char *property); + +// Create a new frame that duplicates an existing frame. If frame is null, +// or memory was exhausted, returns null. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zframe_dup (zframe_t *self); + +// Return frame data encoded as printable hex string, useful for 0MQ UUIDs. +// Caller must free string when finished with it. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zframe_strhex (zframe_t *self); + +// Return frame data copied into freshly allocated string +// Caller must free string when finished with it. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zframe_strdup (zframe_t *self); + +// Return TRUE if frame body is equal to string, excluding terminator +CZMQ_EXPORT bool + zframe_streq (zframe_t *self, const char *string); + +// Return frame MORE indicator (1 or 0), set when reading frame from socket +// or by the zframe_set_more() method +CZMQ_EXPORT int + zframe_more (zframe_t *self); + +// Set frame MORE indicator (1 or 0). Note this is NOT used when sending +// frame to socket, you have to specify flag explicitly. +CZMQ_EXPORT void + zframe_set_more (zframe_t *self, int more); + +// Return TRUE if two frames have identical size and data +// If either frame is NULL, equality is always false. +CZMQ_EXPORT bool + zframe_eq (zframe_t *self, zframe_t *other); + +// Set new contents for frame +CZMQ_EXPORT void + zframe_reset (zframe_t *self, const void *data, size_t size); + +// Send message to zsys log sink (may be stdout, or system facility as +// configured by zsys_set_logstream). Prefix shows before frame, if not null. +CZMQ_EXPORT void + zframe_print (zframe_t *self, const char *prefix); + +// Probe the supplied object, and report if it looks like a zframe_t. +CZMQ_EXPORT bool + zframe_is (void *self); + +// Self test of this class. +CZMQ_EXPORT void + zframe_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Return frame routing ID, if the frame came from a ZMQ_SERVER socket. +// Else returns zero. +CZMQ_EXPORT uint32_t + zframe_routing_id (zframe_t *self); + +// *** Draft method, for development use, may change without warning *** +// Set routing ID on frame. This is used if/when the frame is sent to a +// ZMQ_SERVER socket. +CZMQ_EXPORT void + zframe_set_routing_id (zframe_t *self, uint32_t routing_id); + +// *** Draft method, for development use, may change without warning *** +// Return frame group of radio-dish pattern. +CZMQ_EXPORT const char * + zframe_group (zframe_t *self); + +// *** Draft method, for development use, may change without warning *** +// Set group on frame. This is used if/when the frame is sent to a +// ZMQ_RADIO socket. +// Return -1 on error, 0 on success. +CZMQ_EXPORT int + zframe_set_group (zframe_t *self, const char *group); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +// DEPRECATED as poor style -- callers should use zloop or zpoller +// Receive a new frame off the socket. Returns newly allocated frame, or +// NULL if there was no input waiting, or if the read was interrupted. +CZMQ_EXPORT zframe_t * + zframe_recv_nowait (void *source); + +// DEPRECATED as inconsistent; breaks principle that logging should all go +// to a single destination. +// Print contents of the frame to FILE stream. +CZMQ_EXPORT void + zframe_fprint (zframe_t *self, const char *prefix, FILE *file); + +// Deprecated method aliases +#define zframe_print_to_stream(s,p,F) zframe_fprint(s,p,F) + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zgossip.h b/phonelibs/zmq/x64/include/zgossip.h new file mode 100644 index 000000000..647cb28c0 --- /dev/null +++ b/phonelibs/zmq/x64/include/zgossip.h @@ -0,0 +1,95 @@ +/* ========================================================================= + zgossip - zgossip server + + ** WARNING ************************************************************* + THIS SOURCE FILE IS 100% GENERATED. If you edit this file, you will lose + your changes at the next build cycle. This is great for temporary printf + statements. DO NOT MAKE ANY CHANGES YOU WISH TO KEEP. The correct places + for commits are: + + * The XML model used for this code generation: zgossip.xml, or + * The code generation script that built this file: zproto_server_c + ************************************************************************ + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef ZGOSSIP_H_INCLUDED +#define ZGOSSIP_H_INCLUDED + +#include "czmq.h" + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +// To work with zgossip, use the CZMQ zactor API: +// +// Create new zgossip instance, passing logging prefix: +// +// zactor_t *zgossip = zactor_new (zgossip, "myname"); +// +// Destroy zgossip instance +// +// zactor_destroy (&zgossip); +// +// Enable verbose logging of commands and activity: +// +// zstr_send (zgossip, "VERBOSE"); +// +// Bind zgossip to specified endpoint. TCP endpoints may specify +// the port number as "*" to aquire an ephemeral port: +// +// zstr_sendx (zgossip, "BIND", endpoint, NULL); +// +// Return assigned port number, specifically when BIND was done using an +// an ephemeral port: +// +// zstr_sendx (zgossip, "PORT", NULL); +// char *command, *port_str; +// zstr_recvx (zgossip, &command, &port_str, NULL); +// assert (streq (command, "PORT")); +// +// Specify configuration file to load, overwriting any previous loaded +// configuration file or options: +// +// zstr_sendx (zgossip, "LOAD", filename, NULL); +// +// Set configuration path value: +// +// zstr_sendx (zgossip, "SET", path, value, NULL); +// +// Save configuration data to config file on disk: +// +// zstr_sendx (zgossip, "SAVE", filename, NULL); +// +// Send zmsg_t instance to zgossip: +// +// zactor_send (zgossip, &msg); +// +// Receive zmsg_t instance from zgossip: +// +// zmsg_t *msg = zactor_recv (zgossip); +// +// This is the zgossip constructor as a zactor_fn: +// +CZMQ_EXPORT void + zgossip (zsock_t *pipe, void *args); + +// Self test of this class +CZMQ_EXPORT void + zgossip_test (bool verbose); +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zhash.h b/phonelibs/zmq/x64/include/zhash.h new file mode 100644 index 000000000..138adf63a --- /dev/null +++ b/phonelibs/zmq/x64/include/zhash.h @@ -0,0 +1,182 @@ +/* ========================================================================= + zhash - generic type-free hash container (simple) + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZHASH_H_INCLUDED__ +#define __ZHASH_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zhash.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Callback function for zhash_freefn method +typedef void (zhash_free_fn) ( + void *data); + +// Create a new, empty hash container +CZMQ_EXPORT zhash_t * + zhash_new (void); + +// Unpack binary frame into a new hash table. Packed data must follow format +// defined by zhash_pack. Hash table is set to autofree. An empty frame +// unpacks to an empty hash table. +CZMQ_EXPORT zhash_t * + zhash_unpack (zframe_t *frame); + +// Destroy a hash container and all items in it +CZMQ_EXPORT void + zhash_destroy (zhash_t **self_p); + +// Insert item into hash table with specified key and item. +// If key is already present returns -1 and leaves existing item unchanged +// Returns 0 on success. +CZMQ_EXPORT int + zhash_insert (zhash_t *self, const char *key, void *item); + +// Update item into hash table with specified key and item. +// If key is already present, destroys old item and inserts new one. +// Use free_fn method to ensure deallocator is properly called on item. +CZMQ_EXPORT void + zhash_update (zhash_t *self, const char *key, void *item); + +// Remove an item specified by key from the hash table. If there was no such +// item, this function does nothing. +CZMQ_EXPORT void + zhash_delete (zhash_t *self, const char *key); + +// Return the item at the specified key, or null +CZMQ_EXPORT void * + zhash_lookup (zhash_t *self, const char *key); + +// Reindexes an item from an old key to a new key. If there was no such +// item, does nothing. Returns 0 if successful, else -1. +CZMQ_EXPORT int + zhash_rename (zhash_t *self, const char *old_key, const char *new_key); + +// Set a free function for the specified hash table item. When the item is +// destroyed, the free function, if any, is called on that item. +// Use this when hash items are dynamically allocated, to ensure that +// you don't have memory leaks. You can pass 'free' or NULL as a free_fn. +// Returns the item, or NULL if there is no such item. +CZMQ_EXPORT void * + zhash_freefn (zhash_t *self, const char *key, zhash_free_fn free_fn); + +// Return the number of keys/items in the hash table +CZMQ_EXPORT size_t + zhash_size (zhash_t *self); + +// Make copy of hash table; if supplied table is null, returns null. +// Does not copy items themselves. Rebuilds new table so may be slow on +// very large tables. NOTE: only works with item values that are strings +// since there's no other way to know how to duplicate the item value. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zhash_t * + zhash_dup (zhash_t *self); + +// Return keys for items in table +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlist_t * + zhash_keys (zhash_t *self); + +// Simple iterator; returns first item in hash table, in no given order, +// or NULL if the table is empty. This method is simpler to use than the +// foreach() method, which is deprecated. To access the key for this item +// use zhash_cursor(). NOTE: do NOT modify the table while iterating. +CZMQ_EXPORT void * + zhash_first (zhash_t *self); + +// Simple iterator; returns next item in hash table, in no given order, +// or NULL if the last item was already returned. Use this together with +// zhash_first() to process all items in a hash table. If you need the +// items in sorted order, use zhash_keys() and then zlist_sort(). To +// access the key for this item use zhash_cursor(). NOTE: do NOT modify +// the table while iterating. +CZMQ_EXPORT void * + zhash_next (zhash_t *self); + +// After a successful first/next method, returns the key for the item that +// was returned. This is a constant string that you may not modify or +// deallocate, and which lasts as long as the item in the hash. After an +// unsuccessful first/next, returns NULL. +CZMQ_EXPORT const char * + zhash_cursor (zhash_t *self); + +// Add a comment to hash table before saving to disk. You can add as many +// comment lines as you like. These comment lines are discarded when loading +// the file. If you use a null format, all comments are deleted. +CZMQ_EXPORT void + zhash_comment (zhash_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Serialize hash table to a binary frame that can be sent in a message. +// The packed format is compatible with the 'dictionary' type defined in +// http://rfc.zeromq.org/spec:35/FILEMQ, and implemented by zproto: +// +// ; A list of name/value pairs +// dictionary = dict-count *( dict-name dict-value ) +// dict-count = number-4 +// dict-value = longstr +// dict-name = string +// +// ; Strings are always length + text contents +// longstr = number-4 *VCHAR +// string = number-1 *VCHAR +// +// ; Numbers are unsigned integers in network byte order +// number-1 = 1OCTET +// number-4 = 4OCTET +// +// Comments are not included in the packed data. Item values MUST be +// strings. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zhash_pack (zhash_t *self); + +// Save hash table to a text file in name=value format. Hash values must be +// printable strings; keys may not contain '=' character. Returns 0 if OK, +// else -1 if a file error occurred. +CZMQ_EXPORT int + zhash_save (zhash_t *self, const char *filename); + +// Load hash table from a text file in name=value format; hash table must +// already exist. Hash values must printable strings; keys may not contain +// '=' character. Returns 0 if OK, else -1 if a file was not readable. +CZMQ_EXPORT int + zhash_load (zhash_t *self, const char *filename); + +// When a hash table was loaded from a file by zhash_load, this method will +// reload the file if it has been modified since, and is "stable", i.e. not +// still changing. Returns 0 if OK, -1 if there was an error reloading the +// file. +CZMQ_EXPORT int + zhash_refresh (zhash_t *self); + +// Set hash for automatic value destruction +CZMQ_EXPORT void + zhash_autofree (zhash_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zhash_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zhashx.h b/phonelibs/zmq/x64/include/zhashx.h new file mode 100644 index 000000000..360a773ee --- /dev/null +++ b/phonelibs/zmq/x64/include/zhashx.h @@ -0,0 +1,277 @@ +/* ========================================================================= + zhashx - extended generic type-free hash container + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZHASHX_H_INCLUDED__ +#define __ZHASHX_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zhashx.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +// Destroy an item +typedef void (zhashx_destructor_fn) ( + void **item); + +// Duplicate an item +typedef void * (zhashx_duplicator_fn) ( + const void *item); + +// Compare two items, for sorting +typedef int (zhashx_comparator_fn) ( + const void *item1, const void *item2); + +// compare two items, for sorting +typedef void (zhashx_free_fn) ( + void *data); + +// compare two items, for sorting +typedef size_t (zhashx_hash_fn) ( + const void *key); + +// Serializes an item to a longstr. +// The caller takes ownership of the newly created object. +typedef char * (zhashx_serializer_fn) ( + const void *item); + +// Deserializes a longstr into an item. +// The caller takes ownership of the newly created object. +typedef void * (zhashx_deserializer_fn) ( + const char *item_str); + +// Create a new, empty hash container +CZMQ_EXPORT zhashx_t * + zhashx_new (void); + +// Unpack binary frame into a new hash table. Packed data must follow format +// defined by zhashx_pack. Hash table is set to autofree. An empty frame +// unpacks to an empty hash table. +CZMQ_EXPORT zhashx_t * + zhashx_unpack (zframe_t *frame); + +// Destroy a hash container and all items in it +CZMQ_EXPORT void + zhashx_destroy (zhashx_t **self_p); + +// Insert item into hash table with specified key and item. +// If key is already present returns -1 and leaves existing item unchanged +// Returns 0 on success. +CZMQ_EXPORT int + zhashx_insert (zhashx_t *self, const void *key, void *item); + +// Update or insert item into hash table with specified key and item. If the +// key is already present, destroys old item and inserts new one. If you set +// a container item destructor, this is called on the old value. If the key +// was not already present, inserts a new item. Sets the hash cursor to the +// new item. +CZMQ_EXPORT void + zhashx_update (zhashx_t *self, const void *key, void *item); + +// Remove an item specified by key from the hash table. If there was no such +// item, this function does nothing. +CZMQ_EXPORT void + zhashx_delete (zhashx_t *self, const void *key); + +// Delete all items from the hash table. If the key destructor is +// set, calls it on every key. If the item destructor is set, calls +// it on every item. +CZMQ_EXPORT void + zhashx_purge (zhashx_t *self); + +// Return the item at the specified key, or null +CZMQ_EXPORT void * + zhashx_lookup (zhashx_t *self, const void *key); + +// Reindexes an item from an old key to a new key. If there was no such +// item, does nothing. Returns 0 if successful, else -1. +CZMQ_EXPORT int + zhashx_rename (zhashx_t *self, const void *old_key, const void *new_key); + +// Set a free function for the specified hash table item. When the item is +// destroyed, the free function, if any, is called on that item. +// Use this when hash items are dynamically allocated, to ensure that +// you don't have memory leaks. You can pass 'free' or NULL as a free_fn. +// Returns the item, or NULL if there is no such item. +CZMQ_EXPORT void * + zhashx_freefn (zhashx_t *self, const void *key, zhashx_free_fn free_fn); + +// Return the number of keys/items in the hash table +CZMQ_EXPORT size_t + zhashx_size (zhashx_t *self); + +// Return a zlistx_t containing the keys for the items in the +// table. Uses the key_duplicator to duplicate all keys and sets the +// key_destructor as destructor for the list. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlistx_t * + zhashx_keys (zhashx_t *self); + +// Return a zlistx_t containing the values for the items in the +// table. Uses the duplicator to duplicate all items and sets the +// destructor as destructor for the list. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlistx_t * + zhashx_values (zhashx_t *self); + +// Simple iterator; returns first item in hash table, in no given order, +// or NULL if the table is empty. This method is simpler to use than the +// foreach() method, which is deprecated. To access the key for this item +// use zhashx_cursor(). NOTE: do NOT modify the table while iterating. +CZMQ_EXPORT void * + zhashx_first (zhashx_t *self); + +// Simple iterator; returns next item in hash table, in no given order, +// or NULL if the last item was already returned. Use this together with +// zhashx_first() to process all items in a hash table. If you need the +// items in sorted order, use zhashx_keys() and then zlistx_sort(). To +// access the key for this item use zhashx_cursor(). NOTE: do NOT modify +// the table while iterating. +CZMQ_EXPORT void * + zhashx_next (zhashx_t *self); + +// After a successful first/next method, returns the key for the item that +// was returned. This is a constant string that you may not modify or +// deallocate, and which lasts as long as the item in the hash. After an +// unsuccessful first/next, returns NULL. +CZMQ_EXPORT const void * + zhashx_cursor (zhashx_t *self); + +// Add a comment to hash table before saving to disk. You can add as many +// comment lines as you like. These comment lines are discarded when loading +// the file. If you use a null format, all comments are deleted. +CZMQ_EXPORT void + zhashx_comment (zhashx_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Save hash table to a text file in name=value format. Hash values must be +// printable strings; keys may not contain '=' character. Returns 0 if OK, +// else -1 if a file error occurred. +CZMQ_EXPORT int + zhashx_save (zhashx_t *self, const char *filename); + +// Load hash table from a text file in name=value format; hash table must +// already exist. Hash values must printable strings; keys may not contain +// '=' character. Returns 0 if OK, else -1 if a file was not readable. +CZMQ_EXPORT int + zhashx_load (zhashx_t *self, const char *filename); + +// When a hash table was loaded from a file by zhashx_load, this method will +// reload the file if it has been modified since, and is "stable", i.e. not +// still changing. Returns 0 if OK, -1 if there was an error reloading the +// file. +CZMQ_EXPORT int + zhashx_refresh (zhashx_t *self); + +// Serialize hash table to a binary frame that can be sent in a message. +// The packed format is compatible with the 'dictionary' type defined in +// http://rfc.zeromq.org/spec:35/FILEMQ, and implemented by zproto: +// +// ; A list of name/value pairs +// dictionary = dict-count *( dict-name dict-value ) +// dict-count = number-4 +// dict-value = longstr +// dict-name = string +// +// ; Strings are always length + text contents +// longstr = number-4 *VCHAR +// string = number-1 *VCHAR +// +// ; Numbers are unsigned integers in network byte order +// number-1 = 1OCTET +// number-4 = 4OCTET +// +// Comments are not included in the packed data. Item values MUST be +// strings. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zhashx_pack (zhashx_t *self); + +// Make a copy of the list; items are duplicated if you set a duplicator +// for the list, otherwise not. Copying a null reference returns a null +// reference. Note that this method's behavior changed slightly for CZMQ +// v3.x, as it does not set nor respect autofree. It does however let you +// duplicate any hash table safely. The old behavior is in zhashx_dup_v2. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zhashx_t * + zhashx_dup (zhashx_t *self); + +// Set a user-defined deallocator for hash items; by default items are not +// freed when the hash is destroyed. +CZMQ_EXPORT void + zhashx_set_destructor (zhashx_t *self, zhashx_destructor_fn destructor); + +// Set a user-defined duplicator for hash items; by default items are not +// copied when the hash is duplicated. +CZMQ_EXPORT void + zhashx_set_duplicator (zhashx_t *self, zhashx_duplicator_fn duplicator); + +// Set a user-defined deallocator for keys; by default keys are freed +// when the hash is destroyed using free(). +CZMQ_EXPORT void + zhashx_set_key_destructor (zhashx_t *self, zhashx_destructor_fn destructor); + +// Set a user-defined duplicator for keys; by default keys are duplicated +// using strdup. +CZMQ_EXPORT void + zhashx_set_key_duplicator (zhashx_t *self, zhashx_duplicator_fn duplicator); + +// Set a user-defined comparator for keys; by default keys are +// compared using strcmp. +CZMQ_EXPORT void + zhashx_set_key_comparator (zhashx_t *self, zhashx_comparator_fn comparator); + +// Set a user-defined comparator for keys; by default keys are +// compared using strcmp. +CZMQ_EXPORT void + zhashx_set_key_hasher (zhashx_t *self, zhashx_hash_fn hasher); + +// Make copy of hash table; if supplied table is null, returns null. +// Does not copy items themselves. Rebuilds new table so may be slow on +// very large tables. NOTE: only works with item values that are strings +// since there's no other way to know how to duplicate the item value. +CZMQ_EXPORT zhashx_t * + zhashx_dup_v2 (zhashx_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zhashx_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Same as unpack but uses a user-defined deserializer function to convert +// a longstr back into item format. +CZMQ_EXPORT zhashx_t * + zhashx_unpack_own (zframe_t *frame, zhashx_deserializer_fn deserializer); + +// *** Draft method, for development use, may change without warning *** +// Same as pack but uses a user-defined serializer function to convert items +// into longstr. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zhashx_pack_own (zhashx_t *self, zhashx_serializer_fn serializer); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/ziflist.h b/phonelibs/zmq/x64/include/ziflist.h new file mode 100644 index 000000000..cb2b14480 --- /dev/null +++ b/phonelibs/zmq/x64/include/ziflist.h @@ -0,0 +1,77 @@ +/* ========================================================================= + ziflist - List of network interfaces available on system + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZIFLIST_H_INCLUDED__ +#define __ZIFLIST_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/ziflist.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Get a list of network interfaces currently defined on the system +CZMQ_EXPORT ziflist_t * + ziflist_new (void); + +// Destroy a ziflist instance +CZMQ_EXPORT void + ziflist_destroy (ziflist_t **self_p); + +// Reload network interfaces from system +CZMQ_EXPORT void + ziflist_reload (ziflist_t *self); + +// Return the number of network interfaces on system +CZMQ_EXPORT size_t + ziflist_size (ziflist_t *self); + +// Get first network interface, return NULL if there are none +CZMQ_EXPORT const char * + ziflist_first (ziflist_t *self); + +// Get next network interface, return NULL if we hit the last one +CZMQ_EXPORT const char * + ziflist_next (ziflist_t *self); + +// Return the current interface IP address as a printable string +CZMQ_EXPORT const char * + ziflist_address (ziflist_t *self); + +// Return the current interface broadcast address as a printable string +CZMQ_EXPORT const char * + ziflist_broadcast (ziflist_t *self); + +// Return the current interface network mask as a printable string +CZMQ_EXPORT const char * + ziflist_netmask (ziflist_t *self); + +// Return the list of interfaces. +CZMQ_EXPORT void + ziflist_print (ziflist_t *self); + +// Self test of this class. +CZMQ_EXPORT void + ziflist_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zlist.h b/phonelibs/zmq/x64/include/zlist.h new file mode 100644 index 000000000..1dcd39b99 --- /dev/null +++ b/phonelibs/zmq/x64/include/zlist.h @@ -0,0 +1,158 @@ +/* ========================================================================= + zlist - simple generic list container + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZLIST_H_INCLUDED__ +#define __ZLIST_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zlist.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Comparison function e.g. for sorting and removing. +typedef int (zlist_compare_fn) ( + void *item1, void *item2); + +// Callback function for zlist_freefn method +typedef void (zlist_free_fn) ( + void *data); + +// Create a new list container +CZMQ_EXPORT zlist_t * + zlist_new (void); + +// Destroy a list container +CZMQ_EXPORT void + zlist_destroy (zlist_t **self_p); + +// Return the item at the head of list. If the list is empty, returns NULL. +// Leaves cursor pointing at the head item, or NULL if the list is empty. +CZMQ_EXPORT void * + zlist_first (zlist_t *self); + +// Return the next item. If the list is empty, returns NULL. To move to +// the start of the list call zlist_first (). Advances the cursor. +CZMQ_EXPORT void * + zlist_next (zlist_t *self); + +// Return the item at the tail of list. If the list is empty, returns NULL. +// Leaves cursor pointing at the tail item, or NULL if the list is empty. +CZMQ_EXPORT void * + zlist_last (zlist_t *self); + +// Return first item in the list, or null, leaves the cursor +CZMQ_EXPORT void * + zlist_head (zlist_t *self); + +// Return last item in the list, or null, leaves the cursor +CZMQ_EXPORT void * + zlist_tail (zlist_t *self); + +// Return the current item of list. If the list is empty, returns NULL. +// Leaves cursor pointing at the current item, or NULL if the list is empty. +CZMQ_EXPORT void * + zlist_item (zlist_t *self); + +// Append an item to the end of the list, return 0 if OK or -1 if this +// failed for some reason (out of memory). Note that if a duplicator has +// been set, this method will also duplicate the item. +CZMQ_EXPORT int + zlist_append (zlist_t *self, void *item); + +// Push an item to the start of the list, return 0 if OK or -1 if this +// failed for some reason (out of memory). Note that if a duplicator has +// been set, this method will also duplicate the item. +CZMQ_EXPORT int + zlist_push (zlist_t *self, void *item); + +// Pop the item off the start of the list, if any +CZMQ_EXPORT void * + zlist_pop (zlist_t *self); + +// Checks if an item already is present. Uses compare method to determine if +// items are equal. If the compare method is NULL the check will only compare +// pointers. Returns true if item is present else false. +CZMQ_EXPORT bool + zlist_exists (zlist_t *self, void *item); + +// Remove the specified item from the list if present +CZMQ_EXPORT void + zlist_remove (zlist_t *self, void *item); + +// Make a copy of list. If the list has autofree set, the copied list will +// duplicate all items, which must be strings. Otherwise, the list will hold +// pointers back to the items in the original list. If list is null, returns +// NULL. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zlist_t * + zlist_dup (zlist_t *self); + +// Purge all items from list +CZMQ_EXPORT void + zlist_purge (zlist_t *self); + +// Return number of items in the list +CZMQ_EXPORT size_t + zlist_size (zlist_t *self); + +// Sort the list. If the compare function is null, sorts the list by +// ascending key value using a straight ASCII comparison. If you specify +// a compare function, this decides how items are sorted. The sort is not +// stable, so may reorder items with the same keys. The algorithm used is +// combsort, a compromise between performance and simplicity. +CZMQ_EXPORT void + zlist_sort (zlist_t *self, zlist_compare_fn compare); + +// Set list for automatic item destruction; item values MUST be strings. +// By default a list item refers to a value held elsewhere. When you set +// this, each time you append or push a list item, zlist will take a copy +// of the string value. Then, when you destroy the list, it will free all +// item values automatically. If you use any other technique to allocate +// list values, you must free them explicitly before destroying the list. +// The usual technique is to pop list items and destroy them, until the +// list is empty. +CZMQ_EXPORT void + zlist_autofree (zlist_t *self); + +// Sets a compare function for this list. The function compares two items. +// It returns an integer less than, equal to, or greater than zero if the +// first item is found, respectively, to be less than, to match, or be +// greater than the second item. +// This function is used for sorting, removal and exists checking. +CZMQ_EXPORT void + zlist_comparefn (zlist_t *self, zlist_compare_fn fn); + +// Set a free function for the specified list item. When the item is +// destroyed, the free function, if any, is called on that item. +// Use this when list items are dynamically allocated, to ensure that +// you don't have memory leaks. You can pass 'free' or NULL as a free_fn. +// Returns the item, or NULL if there is no such item. +CZMQ_EXPORT void * + zlist_freefn (zlist_t *self, void *item, zlist_free_fn fn, bool at_tail); + +// Self test of this class. +CZMQ_EXPORT void + zlist_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zlistx.h b/phonelibs/zmq/x64/include/zlistx.h new file mode 100644 index 000000000..512637cef --- /dev/null +++ b/phonelibs/zmq/x64/include/zlistx.h @@ -0,0 +1,205 @@ +/* ========================================================================= + zlistx - extended generic list container + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZLISTX_H_INCLUDED__ +#define __ZLISTX_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zlistx.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Destroy an item +typedef void (zlistx_destructor_fn) ( + void **item); + +// Duplicate an item +typedef void * (zlistx_duplicator_fn) ( + const void *item); + +// Compare two items, for sorting +typedef int (zlistx_comparator_fn) ( + const void *item1, const void *item2); + +// Create a new, empty list. +CZMQ_EXPORT zlistx_t * + zlistx_new (void); + +// Destroy a list. If an item destructor was specified, all items in the +// list are automatically destroyed as well. +CZMQ_EXPORT void + zlistx_destroy (zlistx_t **self_p); + +// Add an item to the head of the list. Calls the item duplicator, if any, +// on the item. Resets cursor to list head. Returns an item handle on +// success, NULL if memory was exhausted. +CZMQ_EXPORT void * + zlistx_add_start (zlistx_t *self, void *item); + +// Add an item to the tail of the list. Calls the item duplicator, if any, +// on the item. Resets cursor to list head. Returns an item handle on +// success, NULL if memory was exhausted. +CZMQ_EXPORT void * + zlistx_add_end (zlistx_t *self, void *item); + +// Return the number of items in the list +CZMQ_EXPORT size_t + zlistx_size (zlistx_t *self); + +// Return first item in the list, or null, leaves the cursor +CZMQ_EXPORT void * + zlistx_head (zlistx_t *self); + +// Return last item in the list, or null, leaves the cursor +CZMQ_EXPORT void * + zlistx_tail (zlistx_t *self); + +// Return the item at the head of list. If the list is empty, returns NULL. +// Leaves cursor pointing at the head item, or NULL if the list is empty. +CZMQ_EXPORT void * + zlistx_first (zlistx_t *self); + +// Return the next item. At the end of the list (or in an empty list), +// returns NULL. Use repeated zlistx_next () calls to work through the list +// from zlistx_first (). First time, acts as zlistx_first(). +CZMQ_EXPORT void * + zlistx_next (zlistx_t *self); + +// Return the previous item. At the start of the list (or in an empty list), +// returns NULL. Use repeated zlistx_prev () calls to work through the list +// backwards from zlistx_last (). First time, acts as zlistx_last(). +CZMQ_EXPORT void * + zlistx_prev (zlistx_t *self); + +// Return the item at the tail of list. If the list is empty, returns NULL. +// Leaves cursor pointing at the tail item, or NULL if the list is empty. +CZMQ_EXPORT void * + zlistx_last (zlistx_t *self); + +// Returns the value of the item at the cursor, or NULL if the cursor is +// not pointing to an item. +CZMQ_EXPORT void * + zlistx_item (zlistx_t *self); + +// Returns the handle of the item at the cursor, or NULL if the cursor is +// not pointing to an item. +CZMQ_EXPORT void * + zlistx_cursor (zlistx_t *self); + +// Returns the item associated with the given list handle, or NULL if passed +// in handle is NULL. Asserts that the passed in handle points to a list element. +CZMQ_EXPORT void * + zlistx_handle_item (void *handle); + +// Find an item in the list, searching from the start. Uses the item +// comparator, if any, else compares item values directly. Returns the +// item handle found, or NULL. Sets the cursor to the found item, if any. +CZMQ_EXPORT void * + zlistx_find (zlistx_t *self, void *item); + +// Detach an item from the list, using its handle. The item is not modified, +// and the caller is responsible for destroying it if necessary. If handle is +// null, detaches the first item on the list. Returns item that was detached, +// or null if none was. If cursor was at item, moves cursor to previous item, +// so you can detach items while iterating forwards through a list. +CZMQ_EXPORT void * + zlistx_detach (zlistx_t *self, void *handle); + +// Detach item at the cursor, if any, from the list. The item is not modified, +// and the caller is responsible for destroying it as necessary. Returns item +// that was detached, or null if none was. Moves cursor to previous item, so +// you can detach items while iterating forwards through a list. +CZMQ_EXPORT void * + zlistx_detach_cur (zlistx_t *self); + +// Delete an item, using its handle. Calls the item destructor is any is +// set. If handle is null, deletes the first item on the list. Returns 0 +// if an item was deleted, -1 if not. If cursor was at item, moves cursor +// to previous item, so you can delete items while iterating forwards +// through a list. +CZMQ_EXPORT int + zlistx_delete (zlistx_t *self, void *handle); + +// Move an item to the start of the list, via its handle. +CZMQ_EXPORT void + zlistx_move_start (zlistx_t *self, void *handle); + +// Move an item to the end of the list, via its handle. +CZMQ_EXPORT void + zlistx_move_end (zlistx_t *self, void *handle); + +// Remove all items from the list, and destroy them if the item destructor +// is set. +CZMQ_EXPORT void + zlistx_purge (zlistx_t *self); + +// Sort the list. If an item comparator was set, calls that to compare +// items, otherwise compares on item value. The sort is not stable, so may +// reorder equal items. +CZMQ_EXPORT void + zlistx_sort (zlistx_t *self); + +// Create a new node and insert it into a sorted list. Calls the item +// duplicator, if any, on the item. If low_value is true, starts searching +// from the start of the list, otherwise searches from the end. Use the item +// comparator, if any, to find where to place the new node. Returns a handle +// to the new node, or NULL if memory was exhausted. Resets the cursor to the +// list head. +CZMQ_EXPORT void * + zlistx_insert (zlistx_t *self, void *item, bool low_value); + +// Move an item, specified by handle, into position in a sorted list. Uses +// the item comparator, if any, to determine the new location. If low_value +// is true, starts searching from the start of the list, otherwise searches +// from the end. +CZMQ_EXPORT void + zlistx_reorder (zlistx_t *self, void *handle, bool low_value); + +// Make a copy of the list; items are duplicated if you set a duplicator +// for the list, otherwise not. Copying a null reference returns a null +// reference. +CZMQ_EXPORT zlistx_t * + zlistx_dup (zlistx_t *self); + +// Set a user-defined deallocator for list items; by default items are not +// freed when the list is destroyed. +CZMQ_EXPORT void + zlistx_set_destructor (zlistx_t *self, zlistx_destructor_fn destructor); + +// Set a user-defined duplicator for list items; by default items are not +// copied when the list is duplicated. +CZMQ_EXPORT void + zlistx_set_duplicator (zlistx_t *self, zlistx_duplicator_fn duplicator); + +// Set a user-defined comparator for zlistx_find and zlistx_sort; the method +// must return -1, 0, or 1 depending on whether item1 is less than, equal to, +// or greater than, item2. +CZMQ_EXPORT void + zlistx_set_comparator (zlistx_t *self, zlistx_comparator_fn comparator); + +// Self test of this class. +CZMQ_EXPORT void + zlistx_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zloop.h b/phonelibs/zmq/x64/include/zloop.h new file mode 100644 index 000000000..83f46f282 --- /dev/null +++ b/phonelibs/zmq/x64/include/zloop.h @@ -0,0 +1,163 @@ +/* ========================================================================= + zloop - event-driven reactor + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZLOOP_H_INCLUDED__ +#define __ZLOOP_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zloop.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Callback function for reactor socket activity +typedef int (zloop_reader_fn) ( + zloop_t *loop, zsock_t *reader, void *arg); + +// Callback function for reactor events (low-level) +typedef int (zloop_fn) ( + zloop_t *loop, zmq_pollitem_t *item, void *arg); + +// Callback for reactor timer events +typedef int (zloop_timer_fn) ( + zloop_t *loop, int timer_id, void *arg); + +// Create a new zloop reactor +CZMQ_EXPORT zloop_t * + zloop_new (void); + +// Destroy a reactor +CZMQ_EXPORT void + zloop_destroy (zloop_t **self_p); + +// Register socket reader with the reactor. When the reader has messages, +// the reactor will call the handler, passing the arg. Returns 0 if OK, -1 +// if there was an error. If you register the same socket more than once, +// each instance will invoke its corresponding handler. +CZMQ_EXPORT int + zloop_reader (zloop_t *self, zsock_t *sock, zloop_reader_fn handler, void *arg); + +// Cancel a socket reader from the reactor. If multiple readers exist for +// same socket, cancels ALL of them. +CZMQ_EXPORT void + zloop_reader_end (zloop_t *self, zsock_t *sock); + +// Configure a registered reader to ignore errors. If you do not set this, +// then readers that have errors are removed from the reactor silently. +CZMQ_EXPORT void + zloop_reader_set_tolerant (zloop_t *self, zsock_t *sock); + +// Register low-level libzmq pollitem with the reactor. When the pollitem +// is ready, will call the handler, passing the arg. Returns 0 if OK, -1 +// if there was an error. If you register the pollitem more than once, each +// instance will invoke its corresponding handler. A pollitem with +// socket=NULL and fd=0 means 'poll on FD zero'. +CZMQ_EXPORT int + zloop_poller (zloop_t *self, zmq_pollitem_t *item, zloop_fn handler, void *arg); + +// Cancel a pollitem from the reactor, specified by socket or FD. If both +// are specified, uses only socket. If multiple poll items exist for same +// socket/FD, cancels ALL of them. +CZMQ_EXPORT void + zloop_poller_end (zloop_t *self, zmq_pollitem_t *item); + +// Configure a registered poller to ignore errors. If you do not set this, +// then poller that have errors are removed from the reactor silently. +CZMQ_EXPORT void + zloop_poller_set_tolerant (zloop_t *self, zmq_pollitem_t *item); + +// Register a timer that expires after some delay and repeats some number of +// times. At each expiry, will call the handler, passing the arg. To run a +// timer forever, use 0 times. Returns a timer_id that is used to cancel the +// timer in the future. Returns -1 if there was an error. +CZMQ_EXPORT int + zloop_timer (zloop_t *self, size_t delay, size_t times, zloop_timer_fn handler, void *arg); + +// Cancel a specific timer identified by a specific timer_id (as returned by +// zloop_timer). +CZMQ_EXPORT int + zloop_timer_end (zloop_t *self, int timer_id); + +// Register a ticket timer. Ticket timers are very fast in the case where +// you use a lot of timers (thousands), and frequently remove and add them. +// The main use case is expiry timers for servers that handle many clients, +// and which reset the expiry timer for each message received from a client. +// Whereas normal timers perform poorly as the number of clients grows, the +// cost of ticket timers is constant, no matter the number of clients. You +// must set the ticket delay using zloop_set_ticket_delay before creating a +// ticket. Returns a handle to the timer that you should use in +// zloop_ticket_reset and zloop_ticket_delete. +CZMQ_EXPORT void * + zloop_ticket (zloop_t *self, zloop_timer_fn handler, void *arg); + +// Reset a ticket timer, which moves it to the end of the ticket list and +// resets its execution time. This is a very fast operation. +CZMQ_EXPORT void + zloop_ticket_reset (zloop_t *self, void *handle); + +// Delete a ticket timer. We do not actually delete the ticket here, as +// other code may still refer to the ticket. We mark as deleted, and remove +// later and safely. +CZMQ_EXPORT void + zloop_ticket_delete (zloop_t *self, void *handle); + +// Set the ticket delay, which applies to all tickets. If you lower the +// delay and there are already tickets created, the results are undefined. +CZMQ_EXPORT void + zloop_set_ticket_delay (zloop_t *self, size_t ticket_delay); + +// Set hard limit on number of timers allowed. Setting more than a small +// number of timers (10-100) can have a dramatic impact on the performance +// of the reactor. For high-volume cases, use ticket timers. If the hard +// limit is reached, the reactor stops creating new timers and logs an +// error. +CZMQ_EXPORT void + zloop_set_max_timers (zloop_t *self, size_t max_timers); + +// Set verbose tracing of reactor on/off. The default verbose setting is +// off (false). +CZMQ_EXPORT void + zloop_set_verbose (zloop_t *self, bool verbose); + +// By default the reactor stops if the process receives a SIGINT or SIGTERM +// signal. This makes it impossible to shut-down message based architectures +// like zactors. This method lets you switch off break handling. The default +// nonstop setting is off (false). +CZMQ_EXPORT void + zloop_set_nonstop (zloop_t *self, bool nonstop); + +// Start the reactor. Takes control of the thread and returns when the 0MQ +// context is terminated or the process is interrupted, or any event handler +// returns -1. Event handlers may register new sockets and timers, and +// cancel sockets. Returns 0 if interrupted, -1 if canceled by a handler. +CZMQ_EXPORT int + zloop_start (zloop_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zloop_test (bool verbose); + +// @end + + +// Deprecated method aliases +#define zloop_set_tolerant(s,i) zloop_poller_set_tolerant(s,i) + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zmonitor.h b/phonelibs/zmq/x64/include/zmonitor.h new file mode 100644 index 000000000..b490bcb1a --- /dev/null +++ b/phonelibs/zmq/x64/include/zmonitor.h @@ -0,0 +1,73 @@ +/* ========================================================================= + zmonitor - socket event monitor + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZMONITOR_H_INCLUDED__ +#define __ZMONITOR_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +// Create new zmonitor actor instance to monitor a zsock_t socket: +// +// zactor_t *monitor = zactor_new (zmonitor, mysocket); +// +// Destroy zmonitor instance. +// +// zactor_destroy (&monitor); +// +// Enable verbose logging of commands and activity. +// +// zstr_send (monitor, "VERBOSE"); +// +// Listen to monitor event type (zero or types, ending in NULL): +// zstr_sendx (monitor, "LISTEN", type, ..., NULL); +// +// Events: +// CONNECTED +// CONNECT_DELAYED +// CONNECT_RETRIED +// LISTENING +// BIND_FAILED +// ACCEPTED +// ACCEPT_FAILED +// CLOSED +// CLOSE_FAILED +// DISCONNECTED +// MONITOR_STOPPED +// ALL +// +// Start monitor; after this, any further LISTEN commands are ignored. +// +// zstr_send (monitor, "START"); +// zsock_wait (monitor); +// +// Receive next monitor event: +// +// zmsg_t *msg = zmsg_recv (monitor); +// +// This is the zmonitor constructor as a zactor_fn; the argument can be +// a zactor_t, zsock_t, or libzmq void * socket: +CZMQ_EXPORT void + zmonitor (zsock_t *pipe, void *sock); + +// Selftest +CZMQ_EXPORT void + zmonitor_test (bool verbose); +// @end +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zmq.h b/phonelibs/zmq/x64/include/zmq.h new file mode 100644 index 000000000..21a78eb65 --- /dev/null +++ b/phonelibs/zmq/x64/include/zmq.h @@ -0,0 +1,643 @@ +/* + Copyright (c) 2007-2016 Contributors as noted in the AUTHORS file + + This file is part of libzmq, the ZeroMQ core engine in C++. + + libzmq is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser General Public License (LGPL) as published + by the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + As a special exception, the Contributors give you permission to link + this library with independent modules to produce an executable, + regardless of the license terms of these independent modules, and to + copy and distribute the resulting executable under terms of your choice, + provided that you also meet, for each linked independent module, the + terms and conditions of the license of that module. An independent + module is a module which is not derived from or based on this library. + If you modify this library, you must extend this exception to your + version of the library. + + libzmq is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public + License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . + + ************************************************************************* + NOTE to contributors. This file comprises the principal public contract + for ZeroMQ API users. Any change to this file supplied in a stable + release SHOULD not break existing applications. + In practice this means that the value of constants must not change, and + that old values may not be reused for new constants. + ************************************************************************* +*/ + +#ifndef __ZMQ_H_INCLUDED__ +#define __ZMQ_H_INCLUDED__ + +/* Version macros for compile-time API version detection */ +#define ZMQ_VERSION_MAJOR 4 +#define ZMQ_VERSION_MINOR 2 +#define ZMQ_VERSION_PATCH 2 + +#define ZMQ_MAKE_VERSION(major, minor, patch) \ + ((major) * 10000 + (minor) * 100 + (patch)) +#define ZMQ_VERSION \ + ZMQ_MAKE_VERSION(ZMQ_VERSION_MAJOR, ZMQ_VERSION_MINOR, ZMQ_VERSION_PATCH) + +#ifdef __cplusplus +extern "C" { +#endif + +#if !defined _WIN32_WCE +#include +#endif +#include +#include +#if defined _WIN32 +// Set target version to Windows Server 2008, Windows Vista or higher. +// Windows XP (0x0501) is supported but without client & server socket types. +#ifndef _WIN32_WINNT +#define _WIN32_WINNT 0x0600 +#endif + +#ifdef __MINGW32__ +// Require Windows XP or higher with MinGW for getaddrinfo(). +#if(_WIN32_WINNT >= 0x0600) +#else +#undef _WIN32_WINNT +#define _WIN32_WINNT 0x0600 +#endif +#endif +#include +#endif + +/* Handle DSO symbol visibility */ +#if defined _WIN32 +# if defined ZMQ_STATIC +# define ZMQ_EXPORT +# elif defined DLL_EXPORT +# define ZMQ_EXPORT __declspec(dllexport) +# else +# define ZMQ_EXPORT __declspec(dllimport) +# endif +#else +# if defined __SUNPRO_C || defined __SUNPRO_CC +# define ZMQ_EXPORT __global +# elif (defined __GNUC__ && __GNUC__ >= 4) || defined __INTEL_COMPILER +# define ZMQ_EXPORT __attribute__ ((visibility("default"))) +# else +# define ZMQ_EXPORT +# endif +#endif + +/* Define integer types needed for event interface */ +#define ZMQ_DEFINED_STDINT 1 +#if defined ZMQ_HAVE_SOLARIS || defined ZMQ_HAVE_OPENVMS +# include +#elif defined _MSC_VER && _MSC_VER < 1600 +# ifndef int32_t + typedef __int32 int32_t; +# endif +# ifndef uint16_t + typedef unsigned __int16 uint16_t; +# endif +# ifndef uint8_t + typedef unsigned __int8 uint8_t; +# endif +#else +# include +#endif + +// 32-bit AIX's pollfd struct members are called reqevents and rtnevents so it +// defines compatibility macros for them. Need to include that header first to +// stop build failures since zmq_pollset_t defines them as events and revents. +#ifdef ZMQ_HAVE_AIX + #include +#endif + + +/******************************************************************************/ +/* 0MQ errors. */ +/******************************************************************************/ + +/* A number random enough not to collide with different errno ranges on */ +/* different OSes. The assumption is that error_t is at least 32-bit type. */ +#define ZMQ_HAUSNUMERO 156384712 + +/* On Windows platform some of the standard POSIX errnos are not defined. */ +#ifndef ENOTSUP +#define ENOTSUP (ZMQ_HAUSNUMERO + 1) +#endif +#ifndef EPROTONOSUPPORT +#define EPROTONOSUPPORT (ZMQ_HAUSNUMERO + 2) +#endif +#ifndef ENOBUFS +#define ENOBUFS (ZMQ_HAUSNUMERO + 3) +#endif +#ifndef ENETDOWN +#define ENETDOWN (ZMQ_HAUSNUMERO + 4) +#endif +#ifndef EADDRINUSE +#define EADDRINUSE (ZMQ_HAUSNUMERO + 5) +#endif +#ifndef EADDRNOTAVAIL +#define EADDRNOTAVAIL (ZMQ_HAUSNUMERO + 6) +#endif +#ifndef ECONNREFUSED +#define ECONNREFUSED (ZMQ_HAUSNUMERO + 7) +#endif +#ifndef EINPROGRESS +#define EINPROGRESS (ZMQ_HAUSNUMERO + 8) +#endif +#ifndef ENOTSOCK +#define ENOTSOCK (ZMQ_HAUSNUMERO + 9) +#endif +#ifndef EMSGSIZE +#define EMSGSIZE (ZMQ_HAUSNUMERO + 10) +#endif +#ifndef EAFNOSUPPORT +#define EAFNOSUPPORT (ZMQ_HAUSNUMERO + 11) +#endif +#ifndef ENETUNREACH +#define ENETUNREACH (ZMQ_HAUSNUMERO + 12) +#endif +#ifndef ECONNABORTED +#define ECONNABORTED (ZMQ_HAUSNUMERO + 13) +#endif +#ifndef ECONNRESET +#define ECONNRESET (ZMQ_HAUSNUMERO + 14) +#endif +#ifndef ENOTCONN +#define ENOTCONN (ZMQ_HAUSNUMERO + 15) +#endif +#ifndef ETIMEDOUT +#define ETIMEDOUT (ZMQ_HAUSNUMERO + 16) +#endif +#ifndef EHOSTUNREACH +#define EHOSTUNREACH (ZMQ_HAUSNUMERO + 17) +#endif +#ifndef ENETRESET +#define ENETRESET (ZMQ_HAUSNUMERO + 18) +#endif + +/* Native 0MQ error codes. */ +#define EFSM (ZMQ_HAUSNUMERO + 51) +#define ENOCOMPATPROTO (ZMQ_HAUSNUMERO + 52) +#define ETERM (ZMQ_HAUSNUMERO + 53) +#define EMTHREAD (ZMQ_HAUSNUMERO + 54) + +/* This function retrieves the errno as it is known to 0MQ library. The goal */ +/* of this function is to make the code 100% portable, including where 0MQ */ +/* compiled with certain CRT library (on Windows) is linked to an */ +/* application that uses different CRT library. */ +ZMQ_EXPORT int zmq_errno (void); + +/* Resolves system errors and 0MQ errors to human-readable string. */ +ZMQ_EXPORT const char *zmq_strerror (int errnum); + +/* Run-time API version detection */ +ZMQ_EXPORT void zmq_version (int *major, int *minor, int *patch); + +/******************************************************************************/ +/* 0MQ infrastructure (a.k.a. context) initialisation & termination. */ +/******************************************************************************/ + +/* Context options */ +#define ZMQ_IO_THREADS 1 +#define ZMQ_MAX_SOCKETS 2 +#define ZMQ_SOCKET_LIMIT 3 +#define ZMQ_THREAD_PRIORITY 3 +#define ZMQ_THREAD_SCHED_POLICY 4 +#define ZMQ_MAX_MSGSZ 5 + +/* Default for new contexts */ +#define ZMQ_IO_THREADS_DFLT 1 +#define ZMQ_MAX_SOCKETS_DFLT 1023 +#define ZMQ_THREAD_PRIORITY_DFLT -1 +#define ZMQ_THREAD_SCHED_POLICY_DFLT -1 + +ZMQ_EXPORT void *zmq_ctx_new (void); +ZMQ_EXPORT int zmq_ctx_term (void *context); +ZMQ_EXPORT int zmq_ctx_shutdown (void *context); +ZMQ_EXPORT int zmq_ctx_set (void *context, int option, int optval); +ZMQ_EXPORT int zmq_ctx_get (void *context, int option); + +/* Old (legacy) API */ +ZMQ_EXPORT void *zmq_init (int io_threads); +ZMQ_EXPORT int zmq_term (void *context); +ZMQ_EXPORT int zmq_ctx_destroy (void *context); + + +/******************************************************************************/ +/* 0MQ message definition. */ +/******************************************************************************/ + +/* Some architectures, like sparc64 and some variants of aarch64, enforce pointer + * alignment and raise sigbus on violations. Make sure applications allocate + * zmq_msg_t on addresses aligned on a pointer-size boundary to avoid this issue. + */ +typedef struct zmq_msg_t { +#if defined (__GNUC__) || defined ( __INTEL_COMPILER) || \ + (defined (__SUNPRO_C) && __SUNPRO_C >= 0x590) || \ + (defined (__SUNPRO_CC) && __SUNPRO_CC >= 0x590) + unsigned char _ [64] __attribute__ ((aligned (sizeof (void *)))); +#elif defined (_MSC_VER) && (defined (_M_X64) || defined (_M_ARM64)) + __declspec (align (8)) unsigned char _ [64]; +#elif defined (_MSC_VER) && (defined (_M_IX86) || defined (_M_ARM_ARMV7VE)) + __declspec (align (4)) unsigned char _ [64]; +#else + unsigned char _ [64]; +#endif +} zmq_msg_t; + +typedef void (zmq_free_fn) (void *data, void *hint); + +ZMQ_EXPORT int zmq_msg_init (zmq_msg_t *msg); +ZMQ_EXPORT int zmq_msg_init_size (zmq_msg_t *msg, size_t size); +ZMQ_EXPORT int zmq_msg_init_data (zmq_msg_t *msg, void *data, + size_t size, zmq_free_fn *ffn, void *hint); +ZMQ_EXPORT int zmq_msg_send (zmq_msg_t *msg, void *s, int flags); +ZMQ_EXPORT int zmq_msg_recv (zmq_msg_t *msg, void *s, int flags); +ZMQ_EXPORT int zmq_msg_close (zmq_msg_t *msg); +ZMQ_EXPORT int zmq_msg_move (zmq_msg_t *dest, zmq_msg_t *src); +ZMQ_EXPORT int zmq_msg_copy (zmq_msg_t *dest, zmq_msg_t *src); +ZMQ_EXPORT void *zmq_msg_data (zmq_msg_t *msg); +ZMQ_EXPORT size_t zmq_msg_size (zmq_msg_t *msg); +ZMQ_EXPORT int zmq_msg_more (zmq_msg_t *msg); +ZMQ_EXPORT int zmq_msg_get (zmq_msg_t *msg, int property); +ZMQ_EXPORT int zmq_msg_set (zmq_msg_t *msg, int property, int optval); +ZMQ_EXPORT const char *zmq_msg_gets (zmq_msg_t *msg, const char *property); + +/******************************************************************************/ +/* 0MQ socket definition. */ +/******************************************************************************/ + +/* Socket types. */ +#define ZMQ_PAIR 0 +#define ZMQ_PUB 1 +#define ZMQ_SUB 2 +#define ZMQ_REQ 3 +#define ZMQ_REP 4 +#define ZMQ_DEALER 5 +#define ZMQ_ROUTER 6 +#define ZMQ_PULL 7 +#define ZMQ_PUSH 8 +#define ZMQ_XPUB 9 +#define ZMQ_XSUB 10 +#define ZMQ_STREAM 11 + +/* Deprecated aliases */ +#define ZMQ_XREQ ZMQ_DEALER +#define ZMQ_XREP ZMQ_ROUTER + +/* Socket options. */ +#define ZMQ_AFFINITY 4 +#define ZMQ_IDENTITY 5 +#define ZMQ_SUBSCRIBE 6 +#define ZMQ_UNSUBSCRIBE 7 +#define ZMQ_RATE 8 +#define ZMQ_RECOVERY_IVL 9 +#define ZMQ_SNDBUF 11 +#define ZMQ_RCVBUF 12 +#define ZMQ_RCVMORE 13 +#define ZMQ_FD 14 +#define ZMQ_EVENTS 15 +#define ZMQ_TYPE 16 +#define ZMQ_LINGER 17 +#define ZMQ_RECONNECT_IVL 18 +#define ZMQ_BACKLOG 19 +#define ZMQ_RECONNECT_IVL_MAX 21 +#define ZMQ_MAXMSGSIZE 22 +#define ZMQ_SNDHWM 23 +#define ZMQ_RCVHWM 24 +#define ZMQ_MULTICAST_HOPS 25 +#define ZMQ_RCVTIMEO 27 +#define ZMQ_SNDTIMEO 28 +#define ZMQ_LAST_ENDPOINT 32 +#define ZMQ_ROUTER_MANDATORY 33 +#define ZMQ_TCP_KEEPALIVE 34 +#define ZMQ_TCP_KEEPALIVE_CNT 35 +#define ZMQ_TCP_KEEPALIVE_IDLE 36 +#define ZMQ_TCP_KEEPALIVE_INTVL 37 +#define ZMQ_IMMEDIATE 39 +#define ZMQ_XPUB_VERBOSE 40 +#define ZMQ_ROUTER_RAW 41 +#define ZMQ_IPV6 42 +#define ZMQ_MECHANISM 43 +#define ZMQ_PLAIN_SERVER 44 +#define ZMQ_PLAIN_USERNAME 45 +#define ZMQ_PLAIN_PASSWORD 46 +#define ZMQ_CURVE_SERVER 47 +#define ZMQ_CURVE_PUBLICKEY 48 +#define ZMQ_CURVE_SECRETKEY 49 +#define ZMQ_CURVE_SERVERKEY 50 +#define ZMQ_PROBE_ROUTER 51 +#define ZMQ_REQ_CORRELATE 52 +#define ZMQ_REQ_RELAXED 53 +#define ZMQ_CONFLATE 54 +#define ZMQ_ZAP_DOMAIN 55 +#define ZMQ_ROUTER_HANDOVER 56 +#define ZMQ_TOS 57 +#define ZMQ_CONNECT_RID 61 +#define ZMQ_GSSAPI_SERVER 62 +#define ZMQ_GSSAPI_PRINCIPAL 63 +#define ZMQ_GSSAPI_SERVICE_PRINCIPAL 64 +#define ZMQ_GSSAPI_PLAINTEXT 65 +#define ZMQ_HANDSHAKE_IVL 66 +#define ZMQ_SOCKS_PROXY 68 +#define ZMQ_XPUB_NODROP 69 +#define ZMQ_BLOCKY 70 +#define ZMQ_XPUB_MANUAL 71 +#define ZMQ_XPUB_WELCOME_MSG 72 +#define ZMQ_STREAM_NOTIFY 73 +#define ZMQ_INVERT_MATCHING 74 +#define ZMQ_HEARTBEAT_IVL 75 +#define ZMQ_HEARTBEAT_TTL 76 +#define ZMQ_HEARTBEAT_TIMEOUT 77 +#define ZMQ_XPUB_VERBOSER 78 +#define ZMQ_CONNECT_TIMEOUT 79 +#define ZMQ_TCP_MAXRT 80 +#define ZMQ_THREAD_SAFE 81 +#define ZMQ_MULTICAST_MAXTPDU 84 +#define ZMQ_VMCI_BUFFER_SIZE 85 +#define ZMQ_VMCI_BUFFER_MIN_SIZE 86 +#define ZMQ_VMCI_BUFFER_MAX_SIZE 87 +#define ZMQ_VMCI_CONNECT_TIMEOUT 88 +#define ZMQ_USE_FD 89 + +/* Message options */ +#define ZMQ_MORE 1 +#define ZMQ_SHARED 3 + +/* Send/recv options. */ +#define ZMQ_DONTWAIT 1 +#define ZMQ_SNDMORE 2 + +/* Security mechanisms */ +#define ZMQ_NULL 0 +#define ZMQ_PLAIN 1 +#define ZMQ_CURVE 2 +#define ZMQ_GSSAPI 3 + +/* RADIO-DISH protocol */ +#define ZMQ_GROUP_MAX_LENGTH 15 + +/* Deprecated options and aliases */ +#define ZMQ_TCP_ACCEPT_FILTER 38 +#define ZMQ_IPC_FILTER_PID 58 +#define ZMQ_IPC_FILTER_UID 59 +#define ZMQ_IPC_FILTER_GID 60 +#define ZMQ_IPV4ONLY 31 +#define ZMQ_DELAY_ATTACH_ON_CONNECT ZMQ_IMMEDIATE +#define ZMQ_NOBLOCK ZMQ_DONTWAIT +#define ZMQ_FAIL_UNROUTABLE ZMQ_ROUTER_MANDATORY +#define ZMQ_ROUTER_BEHAVIOR ZMQ_ROUTER_MANDATORY + +/* Deprecated Message options */ +#define ZMQ_SRCFD 2 + +/******************************************************************************/ +/* 0MQ socket events and monitoring */ +/******************************************************************************/ + +/* Socket transport events (TCP, IPC and TIPC only) */ + +#define ZMQ_EVENT_CONNECTED 0x0001 +#define ZMQ_EVENT_CONNECT_DELAYED 0x0002 +#define ZMQ_EVENT_CONNECT_RETRIED 0x0004 +#define ZMQ_EVENT_LISTENING 0x0008 +#define ZMQ_EVENT_BIND_FAILED 0x0010 +#define ZMQ_EVENT_ACCEPTED 0x0020 +#define ZMQ_EVENT_ACCEPT_FAILED 0x0040 +#define ZMQ_EVENT_CLOSED 0x0080 +#define ZMQ_EVENT_CLOSE_FAILED 0x0100 +#define ZMQ_EVENT_DISCONNECTED 0x0200 +#define ZMQ_EVENT_MONITOR_STOPPED 0x0400 +#define ZMQ_EVENT_ALL 0xFFFF + +ZMQ_EXPORT void *zmq_socket (void *, int type); +ZMQ_EXPORT int zmq_close (void *s); +ZMQ_EXPORT int zmq_setsockopt (void *s, int option, const void *optval, + size_t optvallen); +ZMQ_EXPORT int zmq_getsockopt (void *s, int option, void *optval, + size_t *optvallen); +ZMQ_EXPORT int zmq_bind (void *s, const char *addr); +ZMQ_EXPORT int zmq_connect (void *s, const char *addr); +ZMQ_EXPORT int zmq_unbind (void *s, const char *addr); +ZMQ_EXPORT int zmq_disconnect (void *s, const char *addr); +ZMQ_EXPORT int zmq_send (void *s, const void *buf, size_t len, int flags); +ZMQ_EXPORT int zmq_send_const (void *s, const void *buf, size_t len, int flags); +ZMQ_EXPORT int zmq_recv (void *s, void *buf, size_t len, int flags); +ZMQ_EXPORT int zmq_socket_monitor (void *s, const char *addr, int events); + + +/******************************************************************************/ +/* I/O multiplexing. */ +/******************************************************************************/ + +#define ZMQ_POLLIN 1 +#define ZMQ_POLLOUT 2 +#define ZMQ_POLLERR 4 +#define ZMQ_POLLPRI 8 + +typedef struct zmq_pollitem_t +{ + void *socket; +#if defined _WIN32 + SOCKET fd; +#else + int fd; +#endif + short events; + short revents; +} zmq_pollitem_t; + +#define ZMQ_POLLITEMS_DFLT 16 + +ZMQ_EXPORT int zmq_poll (zmq_pollitem_t *items, int nitems, long timeout); + +/******************************************************************************/ +/* Message proxying */ +/******************************************************************************/ + +ZMQ_EXPORT int zmq_proxy (void *frontend, void *backend, void *capture); +ZMQ_EXPORT int zmq_proxy_steerable (void *frontend, void *backend, void *capture, void *control); + +/******************************************************************************/ +/* Probe library capabilities */ +/******************************************************************************/ + +#define ZMQ_HAS_CAPABILITIES 1 +ZMQ_EXPORT int zmq_has (const char *capability); + +/* Deprecated aliases */ +#define ZMQ_STREAMER 1 +#define ZMQ_FORWARDER 2 +#define ZMQ_QUEUE 3 + +/* Deprecated methods */ +ZMQ_EXPORT int zmq_device (int type, void *frontend, void *backend); +ZMQ_EXPORT int zmq_sendmsg (void *s, zmq_msg_t *msg, int flags); +ZMQ_EXPORT int zmq_recvmsg (void *s, zmq_msg_t *msg, int flags); +struct iovec; +ZMQ_EXPORT int zmq_sendiov (void *s, struct iovec *iov, size_t count, int flags); +ZMQ_EXPORT int zmq_recviov (void *s, struct iovec *iov, size_t *count, int flags); + +/******************************************************************************/ +/* Encryption functions */ +/******************************************************************************/ + +/* Encode data with Z85 encoding. Returns encoded data */ +ZMQ_EXPORT char *zmq_z85_encode (char *dest, const uint8_t *data, size_t size); + +/* Decode data with Z85 encoding. Returns decoded data */ +ZMQ_EXPORT uint8_t *zmq_z85_decode (uint8_t *dest, const char *string); + +/* Generate z85-encoded public and private keypair with tweetnacl/libsodium. */ +/* Returns 0 on success. */ +ZMQ_EXPORT int zmq_curve_keypair (char *z85_public_key, char *z85_secret_key); + +/* Derive the z85-encoded public key from the z85-encoded secret key. */ +/* Returns 0 on success. */ +ZMQ_EXPORT int zmq_curve_public (char *z85_public_key, const char *z85_secret_key); + +/******************************************************************************/ +/* Atomic utility methods */ +/******************************************************************************/ + +ZMQ_EXPORT void *zmq_atomic_counter_new (void); +ZMQ_EXPORT void zmq_atomic_counter_set (void *counter, int value); +ZMQ_EXPORT int zmq_atomic_counter_inc (void *counter); +ZMQ_EXPORT int zmq_atomic_counter_dec (void *counter); +ZMQ_EXPORT int zmq_atomic_counter_value (void *counter); +ZMQ_EXPORT void zmq_atomic_counter_destroy (void **counter_p); + + +/******************************************************************************/ +/* These functions are not documented by man pages -- use at your own risk. */ +/* If you need these to be part of the formal ZMQ API, then (a) write a man */ +/* page, and (b) write a test case in tests. */ +/******************************************************************************/ + +/* Helper functions are used by perf tests so that they don't have to care */ +/* about minutiae of time-related functions on different OS platforms. */ + +/* Starts the stopwatch. Returns the handle to the watch. */ +ZMQ_EXPORT void *zmq_stopwatch_start (void); + +/* Stops the stopwatch. Returns the number of microseconds elapsed since */ +/* the stopwatch was started. */ +ZMQ_EXPORT unsigned long zmq_stopwatch_stop (void *watch_); + +/* Sleeps for specified number of seconds. */ +ZMQ_EXPORT void zmq_sleep (int seconds_); + +typedef void (zmq_thread_fn) (void*); + +/* Start a thread. Returns a handle to the thread. */ +ZMQ_EXPORT void *zmq_threadstart (zmq_thread_fn* func, void* arg); + +/* Wait for thread to complete then free up resources. */ +ZMQ_EXPORT void zmq_threadclose (void* thread); + + +/******************************************************************************/ +/* These functions are DRAFT and disabled in stable releases, and subject to */ +/* change at ANY time until declared stable. */ +/******************************************************************************/ + +#ifdef ZMQ_BUILD_DRAFT_API + +/* DRAFT Socket types. */ +#define ZMQ_SERVER 12 +#define ZMQ_CLIENT 13 +#define ZMQ_RADIO 14 +#define ZMQ_DISH 15 +#define ZMQ_GATHER 16 +#define ZMQ_SCATTER 17 +#define ZMQ_DGRAM 18 + +/* DRAFT 0MQ socket events and monitoring */ +#define ZMQ_EVENT_HANDSHAKE_FAILED 0x0800 +#define ZMQ_EVENT_HANDSHAKE_SUCCEED 0x1000 + +/* DRAFT Context options */ +#define ZMQ_MSG_T_SIZE 6 + +/* DRAFT Socket methods. */ +ZMQ_EXPORT int zmq_join (void *s, const char *group); +ZMQ_EXPORT int zmq_leave (void *s, const char *group); + +/* DRAFT Msg methods. */ +ZMQ_EXPORT int zmq_msg_set_routing_id(zmq_msg_t *msg, uint32_t routing_id); +ZMQ_EXPORT uint32_t zmq_msg_routing_id(zmq_msg_t *msg); +ZMQ_EXPORT int zmq_msg_set_group(zmq_msg_t *msg, const char *group); +ZMQ_EXPORT const char *zmq_msg_group(zmq_msg_t *msg); + +/******************************************************************************/ +/* Poller polling on sockets,fd and thread-safe sockets */ +/******************************************************************************/ + +#define ZMQ_HAVE_POLLER + +typedef struct zmq_poller_event_t +{ + void *socket; +#if defined _WIN32 + SOCKET fd; +#else + int fd; +#endif + void *user_data; + short events; +} zmq_poller_event_t; + +ZMQ_EXPORT void *zmq_poller_new (void); +ZMQ_EXPORT int zmq_poller_destroy (void **poller_p); +ZMQ_EXPORT int zmq_poller_add (void *poller, void *socket, void *user_data, short events); +ZMQ_EXPORT int zmq_poller_modify (void *poller, void *socket, short events); +ZMQ_EXPORT int zmq_poller_remove (void *poller, void *socket); +ZMQ_EXPORT int zmq_poller_wait (void *poller, zmq_poller_event_t *event, long timeout); +ZMQ_EXPORT int zmq_poller_wait_all (void *poller, zmq_poller_event_t *events, int n_events, long timeout); + +#if defined _WIN32 +ZMQ_EXPORT int zmq_poller_add_fd (void *poller, SOCKET fd, void *user_data, short events); +ZMQ_EXPORT int zmq_poller_modify_fd (void *poller, SOCKET fd, short events); +ZMQ_EXPORT int zmq_poller_remove_fd (void *poller, SOCKET fd); +#else +ZMQ_EXPORT int zmq_poller_add_fd (void *poller, int fd, void *user_data, short events); +ZMQ_EXPORT int zmq_poller_modify_fd (void *poller, int fd, short events); +ZMQ_EXPORT int zmq_poller_remove_fd (void *poller, int fd); +#endif + +/******************************************************************************/ +/* Scheduling timers */ +/******************************************************************************/ + +#define ZMQ_HAVE_TIMERS + +typedef void (zmq_timer_fn)(int timer_id, void *arg); + +ZMQ_EXPORT void *zmq_timers_new (void); +ZMQ_EXPORT int zmq_timers_destroy (void **timers_p); +ZMQ_EXPORT int zmq_timers_add (void *timers, size_t interval, zmq_timer_fn handler, void *arg); +ZMQ_EXPORT int zmq_timers_cancel (void *timers, int timer_id); +ZMQ_EXPORT int zmq_timers_set_interval (void *timers, int timer_id, size_t interval); +ZMQ_EXPORT int zmq_timers_reset (void *timers, int timer_id); +ZMQ_EXPORT long zmq_timers_timeout (void *timers); +ZMQ_EXPORT int zmq_timers_execute (void *timers); + +#endif // ZMQ_BUILD_DRAFT_API + + +#undef ZMQ_EXPORT + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zmq_utils.h b/phonelibs/zmq/x64/include/zmq_utils.h new file mode 100644 index 000000000..f29638d55 --- /dev/null +++ b/phonelibs/zmq/x64/include/zmq_utils.h @@ -0,0 +1,48 @@ +/* + Copyright (c) 2007-2016 Contributors as noted in the AUTHORS file + + This file is part of libzmq, the ZeroMQ core engine in C++. + + libzmq is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser General Public License (LGPL) as published + by the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + As a special exception, the Contributors give you permission to link + this library with independent modules to produce an executable, + regardless of the license terms of these independent modules, and to + copy and distribute the resulting executable under terms of your choice, + provided that you also meet, for each linked independent module, the + terms and conditions of the license of that module. An independent + module is a module which is not derived from or based on this library. + If you modify this library, you must extend this exception to your + version of the library. + + libzmq is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or + FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public + License for more details. + + You should have received a copy of the GNU Lesser General Public License + along with this program. If not, see . +*/ + +/* This file is deprecated, and all its functionality provided by zmq.h */ +/* Note that -Wpedantic compilation requires GCC to avoid using its custom + extensions such as #warning, hence the trick below. Also, pragmas for + warnings or other messages are not standard, not portable, and not all + compilers even have an equivalent concept. + So in the worst case, this include file is treated as silently empty. */ + +#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__) || defined(_MSC_VER) +#if defined(__GNUC__) || defined(__GNUG__) +#pragma GCC diagnostic push +#pragma GCC diagnostic warning "-Wcpp" +#pragma GCC diagnostic ignored "-Werror" +#pragma GCC diagnostic ignored "-Wall" +#endif +#pragma message("Warning: zmq_utils.h is deprecated. All its functionality is provided by zmq.h.") +#if defined(__GNUC__) || defined(__GNUG__) +#pragma GCC diagnostic pop +#endif +#endif diff --git a/phonelibs/zmq/x64/include/zmsg.h b/phonelibs/zmq/x64/include/zmsg.h new file mode 100644 index 000000000..d8a84d1f4 --- /dev/null +++ b/phonelibs/zmq/x64/include/zmsg.h @@ -0,0 +1,280 @@ +/* ========================================================================= + zmsg - working with multipart messages + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZMSG_H_INCLUDED__ +#define __ZMSG_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zmsg.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +// Create a new empty message object +CZMQ_EXPORT zmsg_t * + zmsg_new (void); + +// Receive message from socket, returns zmsg_t object or NULL if the recv +// was interrupted. Does a blocking recv. If you want to not block then use +// the zloop class or zmsg_recv_nowait or zmq_poll to check for socket input +// before receiving. +CZMQ_EXPORT zmsg_t * + zmsg_recv (void *source); + +// Load/append an open file into new message, return the message. +// Returns NULL if the message could not be loaded. +CZMQ_EXPORT zmsg_t * + zmsg_load (FILE *file); + +// Decodes a serialized message frame created by zmsg_encode () and returns +// a new zmsg_t object. Returns NULL if the frame was badly formatted or +// there was insufficient memory to work. +CZMQ_EXPORT zmsg_t * + zmsg_decode (zframe_t *frame); + +// Generate a signal message encoding the given status. A signal is a short +// message carrying a 1-byte success/failure code (by convention, 0 means +// OK). Signals are encoded to be distinguishable from "normal" messages. +CZMQ_EXPORT zmsg_t * + zmsg_new_signal (byte status); + +// Destroy a message object and all frames it contains +CZMQ_EXPORT void + zmsg_destroy (zmsg_t **self_p); + +// Send message to destination socket, and destroy the message after sending +// it successfully. If the message has no frames, sends nothing but destroys +// the message anyhow. Nullifies the caller's reference to the message (as +// it is a destructor). +CZMQ_EXPORT int + zmsg_send (zmsg_t **self_p, void *dest); + +// Send message to destination socket as part of a multipart sequence, and +// destroy the message after sending it successfully. Note that after a +// zmsg_sendm, you must call zmsg_send or another method that sends a final +// message part. If the message has no frames, sends nothing but destroys +// the message anyhow. Nullifies the caller's reference to the message (as +// it is a destructor). +CZMQ_EXPORT int + zmsg_sendm (zmsg_t **self_p, void *dest); + +// Return size of message, i.e. number of frames (0 or more). +CZMQ_EXPORT size_t + zmsg_size (zmsg_t *self); + +// Return total size of all frames in message. +CZMQ_EXPORT size_t + zmsg_content_size (zmsg_t *self); + +// Push frame to the front of the message, i.e. before all other frames. +// Message takes ownership of frame, will destroy it when message is sent. +// Returns 0 on success, -1 on error. Deprecates zmsg_push, which did not +// nullify the caller's frame reference. +CZMQ_EXPORT int + zmsg_prepend (zmsg_t *self, zframe_t **frame_p); + +// Add frame to the end of the message, i.e. after all other frames. +// Message takes ownership of frame, will destroy it when message is sent. +// Returns 0 on success. Deprecates zmsg_add, which did not nullify the +// caller's frame reference. +CZMQ_EXPORT int + zmsg_append (zmsg_t *self, zframe_t **frame_p); + +// Remove first frame from message, if any. Returns frame, or NULL. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zmsg_pop (zmsg_t *self); + +// Push block of memory to front of message, as a new frame. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_pushmem (zmsg_t *self, const void *data, size_t size); + +// Add block of memory to the end of the message, as a new frame. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_addmem (zmsg_t *self, const void *data, size_t size); + +// Push string as new frame to front of message. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_pushstr (zmsg_t *self, const char *string); + +// Push string as new frame to end of message. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_addstr (zmsg_t *self, const char *string); + +// Push formatted string as new frame to front of message. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_pushstrf (zmsg_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Push formatted string as new frame to end of message. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_addstrf (zmsg_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Pop frame off front of message, return as fresh string. If there were +// no more frames in the message, returns NULL. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zmsg_popstr (zmsg_t *self); + +// Push encoded message as a new frame. Message takes ownership of +// submessage, so the original is destroyed in this call. Returns 0 on +// success, -1 on error. +CZMQ_EXPORT int + zmsg_addmsg (zmsg_t *self, zmsg_t **msg_p); + +// Remove first submessage from message, if any. Returns zmsg_t, or NULL if +// decoding was not successful. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zmsg_t * + zmsg_popmsg (zmsg_t *self); + +// Remove specified frame from list, if present. Does not destroy frame. +CZMQ_EXPORT void + zmsg_remove (zmsg_t *self, zframe_t *frame); + +// Set cursor to first frame in message. Returns frame, or NULL, if the +// message is empty. Use this to navigate the frames as a list. +CZMQ_EXPORT zframe_t * + zmsg_first (zmsg_t *self); + +// Return the next frame. If there are no more frames, returns NULL. To move +// to the first frame call zmsg_first(). Advances the cursor. +CZMQ_EXPORT zframe_t * + zmsg_next (zmsg_t *self); + +// Return the last frame. If there are no frames, returns NULL. +CZMQ_EXPORT zframe_t * + zmsg_last (zmsg_t *self); + +// Save message to an open file, return 0 if OK, else -1. The message is +// saved as a series of frames, each with length and data. Note that the +// file is NOT guaranteed to be portable between operating systems, not +// versions of CZMQ. The file format is at present undocumented and liable +// to arbitrary change. +CZMQ_EXPORT int + zmsg_save (zmsg_t *self, FILE *file); + +// Serialize multipart message to a single message frame. Use this method +// to send structured messages across transports that do not support +// multipart data. Allocates and returns a new frame containing the +// serialized message. To decode a serialized message frame, use +// zmsg_decode (). +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zframe_t * + zmsg_encode (zmsg_t *self); + +// Create copy of message, as new message object. Returns a fresh zmsg_t +// object. If message is null, or memory was exhausted, returns null. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT zmsg_t * + zmsg_dup (zmsg_t *self); + +// Send message to zsys log sink (may be stdout, or system facility as +// configured by zsys_set_logstream). +CZMQ_EXPORT void + zmsg_print (zmsg_t *self); + +// Return true if the two messages have the same number of frames and each +// frame in the first message is identical to the corresponding frame in the +// other message. As with zframe_eq, return false if either message is NULL. +CZMQ_EXPORT bool + zmsg_eq (zmsg_t *self, zmsg_t *other); + +// Return signal value, 0 or greater, if message is a signal, -1 if not. +CZMQ_EXPORT int + zmsg_signal (zmsg_t *self); + +// Probe the supplied object, and report if it looks like a zmsg_t. +CZMQ_EXPORT bool + zmsg_is (void *self); + +// Self test of this class. +CZMQ_EXPORT void + zmsg_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Return message routing ID, if the message came from a ZMQ_SERVER socket. +// Else returns zero. +CZMQ_EXPORT uint32_t + zmsg_routing_id (zmsg_t *self); + +// *** Draft method, for development use, may change without warning *** +// Set routing ID on message. This is used if/when the message is sent to a +// ZMQ_SERVER socket. +CZMQ_EXPORT void + zmsg_set_routing_id (zmsg_t *self, uint32_t routing_id); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +// DEPRECATED as over-engineered, poor style +// Pop frame off front of message, caller now owns frame +// If next frame is empty, pops and destroys that empty frame. +CZMQ_EXPORT zframe_t * + zmsg_unwrap (zmsg_t *self); + +// DEPRECATED as poor style -- callers should use zloop or zpoller +// Receive message from socket, returns zmsg_t object, or NULL either if +// there was no input waiting, or the recv was interrupted. +CZMQ_EXPORT zmsg_t * + zmsg_recv_nowait (void *source); + +// DEPRECATED as unsafe -- does not nullify frame reference. +// Push frame plus empty frame to front of message, before first frame. +// Message takes ownership of frame, will destroy it when message is sent. +CZMQ_EXPORT void + zmsg_wrap (zmsg_t *self, zframe_t *frame); + +// DEPRECATED - will be removed for next + 1 stable release +// Add frame to the front of the message, i.e. before all other frames. +// Message takes ownership of frame, will destroy it when message is sent. +// Returns 0 on success, -1 on error. +CZMQ_EXPORT int + zmsg_push (zmsg_t *self, zframe_t *frame); + +// DEPRECATED - will be removed for next stable release +CZMQ_EXPORT int + zmsg_add (zmsg_t *self, zframe_t *frame); + +// DEPRECATED as inconsistent; breaks principle that logging should all go +// to a single destination. +// Print message to open stream +// Truncates to first 10 frames, for readability. +CZMQ_EXPORT void + zmsg_fprint (zmsg_t *self, FILE *file); + +// Compiler hints +CZMQ_EXPORT int zmsg_addstrf (zmsg_t *self, const char *format, ...) CHECK_PRINTF (2); +CZMQ_EXPORT int zmsg_pushstrf (zmsg_t *self, const char *format, ...) CHECK_PRINTF (2); + +#ifdef __cplusplus +} +#endif + +// Deprecated method aliases +#define zmsg_dump(s) zmsg_print(s) +#define zmsg_dump_to_stream(s,F) zmsg_fprint(s,F) + +#endif diff --git a/phonelibs/zmq/x64/include/zpoller.h b/phonelibs/zmq/x64/include/zpoller.h new file mode 100644 index 000000000..3b394c351 --- /dev/null +++ b/phonelibs/zmq/x64/include/zpoller.h @@ -0,0 +1,87 @@ +/* ========================================================================= + zpoller - trivial socket poller class + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __zpoller_H_INCLUDED__ +#define __zpoller_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zpoller.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Create new poller, specifying zero or more readers. The list of +// readers ends in a NULL. Each reader can be a zsock_t instance, a +// zactor_t instance, a libzmq socket (void *), or a file handle. +CZMQ_EXPORT zpoller_t * + zpoller_new (void *reader, ...); + +// Destroy a poller +CZMQ_EXPORT void + zpoller_destroy (zpoller_t **self_p); + +// Add a reader to be polled. Returns 0 if OK, -1 on failure. The reader may +// be a libzmq void * socket, a zsock_t instance, or a zactor_t instance. +CZMQ_EXPORT int + zpoller_add (zpoller_t *self, void *reader); + +// Remove a reader from the poller; returns 0 if OK, -1 on failure. The reader +// must have been passed during construction, or in an zpoller_add () call. +CZMQ_EXPORT int + zpoller_remove (zpoller_t *self, void *reader); + +// By default the poller stops if the process receives a SIGINT or SIGTERM +// signal. This makes it impossible to shut-down message based architectures +// like zactors. This method lets you switch off break handling. The default +// nonstop setting is off (false). +CZMQ_EXPORT void + zpoller_set_nonstop (zpoller_t *self, bool nonstop); + +// Poll the registered readers for I/O, return first reader that has input. +// The reader will be a libzmq void * socket, or a zsock_t or zactor_t +// instance as specified in zpoller_new/zpoller_add. The timeout should be +// zero or greater, or -1 to wait indefinitely. Socket priority is defined +// by their order in the poll list. If you need a balanced poll, use the low +// level zmq_poll method directly. If the poll call was interrupted (SIGINT), +// or the ZMQ context was destroyed, or the timeout expired, returns NULL. +// You can test the actual exit condition by calling zpoller_expired () and +// zpoller_terminated (). The timeout is in msec. +CZMQ_EXPORT void * + zpoller_wait (zpoller_t *self, int timeout); + +// Return true if the last zpoller_wait () call ended because the timeout +// expired, without any error. +CZMQ_EXPORT bool + zpoller_expired (zpoller_t *self); + +// Return true if the last zpoller_wait () call ended because the process +// was interrupted, or the parent context was destroyed. +CZMQ_EXPORT bool + zpoller_terminated (zpoller_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zpoller_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/phonelibs/zmq/x64/include/zproc.h b/phonelibs/zmq/x64/include/zproc.h new file mode 100644 index 000000000..4fd3fcf44 --- /dev/null +++ b/phonelibs/zmq/x64/include/zproc.h @@ -0,0 +1,168 @@ +/* ========================================================================= + zproc - process configuration and status + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef ZPROC_H_INCLUDED +#define ZPROC_H_INCLUDED + +#ifdef __cplusplus +extern "C" { +#endif + + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zproc.api" to make changes. +// @interface +// This is a draft class, and may change without notice. It is disabled in +// stable builds by default. If you use this in applications, please ask +// for it to be pushed to stable state. Use --enable-drafts to enable. +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Returns CZMQ version as a single 6-digit integer encoding the major +// version (x 10000), the minor version (x 100) and the patch. +CZMQ_EXPORT int + zproc_czmq_version (void); + +// *** Draft method, for development use, may change without warning *** +// Returns true if the process received a SIGINT or SIGTERM signal. +// It is good practice to use this method to exit any infinite loop +// processing messages. +CZMQ_EXPORT bool + zproc_interrupted (void); + +// *** Draft method, for development use, may change without warning *** +// Returns true if the underlying libzmq supports CURVE security. +CZMQ_EXPORT bool + zproc_has_curve (void); + +// *** Draft method, for development use, may change without warning *** +// Return current host name, for use in public tcp:// endpoints. +// If the host name is not resolvable, returns NULL. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zproc_hostname (void); + +// *** Draft method, for development use, may change without warning *** +// Move the current process into the background. The precise effect +// depends on the operating system. On POSIX boxes, moves to a specified +// working directory (if specified), closes all file handles, reopens +// stdin, stdout, and stderr to the null device, and sets the process to +// ignore SIGHUP. On Windows, does nothing. Returns 0 if OK, -1 if there +// was an error. +CZMQ_EXPORT void + zproc_daemonize (const char *workdir); + +// *** Draft method, for development use, may change without warning *** +// Drop the process ID into the lockfile, with exclusive lock, and +// switch the process to the specified group and/or user. Any of the +// arguments may be null, indicating a no-op. Returns 0 on success, +// -1 on failure. Note if you combine this with zsys_daemonize, run +// after, not before that method, or the lockfile will hold the wrong +// process ID. +CZMQ_EXPORT void + zproc_run_as (const char *lockfile, const char *group, const char *user); + +// *** Draft method, for development use, may change without warning *** +// Configure the number of I/O threads that ZeroMQ will use. A good +// rule of thumb is one thread per gigabit of traffic in or out. The +// default is 1, sufficient for most applications. If the environment +// variable ZSYS_IO_THREADS is defined, that provides the default. +// Note that this method is valid only before any socket is created. +CZMQ_EXPORT void + zproc_set_io_threads (size_t io_threads); + +// *** Draft method, for development use, may change without warning *** +// Configure the number of sockets that ZeroMQ will allow. The default +// is 1024. The actual limit depends on the system, and you can query it +// by using zsys_socket_limit (). A value of zero means "maximum". +// Note that this method is valid only before any socket is created. +CZMQ_EXPORT void + zproc_set_max_sockets (size_t max_sockets); + +// *** Draft method, for development use, may change without warning *** +// Set network interface name to use for broadcasts, particularly zbeacon. +// This lets the interface be configured for test environments where required. +// For example, on Mac OS X, zbeacon cannot bind to 255.255.255.255 which is +// the default when there is no specified interface. If the environment +// variable ZSYS_INTERFACE is set, use that as the default interface name. +// Setting the interface to "*" means "use all available interfaces". +CZMQ_EXPORT void + zproc_set_biface (const char *value); + +// *** Draft method, for development use, may change without warning *** +// Return network interface to use for broadcasts, or "" if none was set. +CZMQ_EXPORT const char * + zproc_biface (void); + +// *** Draft method, for development use, may change without warning *** +// Set log identity, which is a string that prefixes all log messages sent +// by this process. The log identity defaults to the environment variable +// ZSYS_LOGIDENT, if that is set. +CZMQ_EXPORT void + zproc_set_log_ident (const char *value); + +// *** Draft method, for development use, may change without warning *** +// Sends log output to a PUB socket bound to the specified endpoint. To +// collect such log output, create a SUB socket, subscribe to the traffic +// you care about, and connect to the endpoint. Log traffic is sent as a +// single string frame, in the same format as when sent to stdout. The +// log system supports a single sender; multiple calls to this method will +// bind the same sender to multiple endpoints. To disable the sender, call +// this method with a null argument. +CZMQ_EXPORT void + zproc_set_log_sender (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Enable or disable logging to the system facility (syslog on POSIX boxes, +// event log on Windows). By default this is disabled. +CZMQ_EXPORT void + zproc_set_log_system (bool logsystem); + +// *** Draft method, for development use, may change without warning *** +// Log error condition - highest priority +CZMQ_EXPORT void + zproc_log_error (const char *format, ...) CHECK_PRINTF (1); + +// *** Draft method, for development use, may change without warning *** +// Log warning condition - high priority +CZMQ_EXPORT void + zproc_log_warning (const char *format, ...) CHECK_PRINTF (1); + +// *** Draft method, for development use, may change without warning *** +// Log normal, but significant, condition - normal priority +CZMQ_EXPORT void + zproc_log_notice (const char *format, ...) CHECK_PRINTF (1); + +// *** Draft method, for development use, may change without warning *** +// Log informational message - low priority +CZMQ_EXPORT void + zproc_log_info (const char *format, ...) CHECK_PRINTF (1); + +// *** Draft method, for development use, may change without warning *** +// Log debug-level message - lowest priority +CZMQ_EXPORT void + zproc_log_debug (const char *format, ...) CHECK_PRINTF (1); + +// *** Draft method, for development use, may change without warning *** +// Self test of this class. +CZMQ_EXPORT void + zproc_test (bool verbose); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zproxy.h b/phonelibs/zmq/x64/include/zproxy.h new file mode 100644 index 000000000..f672c5e72 --- /dev/null +++ b/phonelibs/zmq/x64/include/zproxy.h @@ -0,0 +1,111 @@ +/* ========================================================================= + zproxy - run a steerable proxy in the background + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZPROXY_H_INCLUDED__ +#define __ZPROXY_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +// Create new zproxy actor instance. The proxy switches messages between +// a frontend socket and a backend socket; use the FRONTEND and BACKEND +// commands to configure these: +// +// zactor_t *proxy = zactor_new (zproxy, NULL); +// +// Destroy zproxy instance. This destroys the two sockets and stops any +// message flow between them: +// +// zactor_destroy (&proxy); +// +// Note that all zproxy commands are synchronous, so your application always +// waits for a signal from the actor after each command. +// +// Enable verbose logging of commands and activity: +// +// zstr_send (proxy, "VERBOSE"); +// zsock_wait (proxy); +// +// Specify frontend socket type -- see zsock_type_str () -- and attach to +// endpoints, see zsock_attach (). Note that a proxy socket is always +// serverish: +// +// zstr_sendx (proxy, "FRONTEND", "XSUB", endpoints, NULL); +// zsock_wait (proxy); +// +// Specify backend socket type -- see zsock_type_str () -- and attach to +// endpoints, see zsock_attach (). Note that a proxy socket is always +// serverish: +// +// zstr_sendx (proxy, "BACKEND", "XPUB", endpoints, NULL); +// zsock_wait (proxy); +// +// Capture all proxied messages; these are delivered to the application +// via an inproc PULL socket that you have already bound to the specified +// endpoint: +// +// zstr_sendx (proxy, "CAPTURE", endpoint, NULL); +// zsock_wait (proxy); +// +// Pause the proxy. A paused proxy will cease processing messages, causing +// them to be queued up and potentially hit the high-water mark on the +// frontend or backend socket, causing messages to be dropped, or writing +// applications to block: +// +// zstr_sendx (proxy, "PAUSE", NULL); +// zsock_wait (proxy); +// +// Resume the proxy. Note that the proxy starts automatically as soon as it +// has a properly attached frontend and backend socket: +// +// zstr_sendx (proxy, "RESUME", NULL); +// zsock_wait (proxy); +// +// Configure an authentication domain for the "FRONTEND" or "BACKEND" proxy +// socket -- see zsock_set_zap_domain (). Call before binding socket: +// +// zstr_sendx (proxy, "DOMAIN", "FRONTEND", "global", NULL); +// zsock_wait (proxy); +// +// Configure PLAIN authentication for the "FRONTEND" or "BACKEND" proxy +// socket -- see zsock_set_plain_server (). Call before binding socket: +// +// zstr_sendx (proxy, "PLAIN", "BACKEND", NULL); +// zsock_wait (proxy); +// +// Configure CURVE authentication for the "FRONTEND" or "BACKEND" proxy +// socket -- see zsock_set_curve_server () -- specifying both the public and +// secret keys of a certificate as Z85 armored strings -- see +// zcert_public_txt () and zcert_secret_txt (). Call before binding socket: +// +// zstr_sendx (proxy, "CURVE", "FRONTEND", public_txt, secret_txt, NULL); +// zsock_wait (proxy); +// +// This is the zproxy constructor as a zactor_fn; the argument is a +// character string specifying frontend and backend socket types as two +// uppercase strings separated by a hyphen: +CZMQ_EXPORT void + zproxy (zsock_t *pipe, void *unused); + +// Selftest +CZMQ_EXPORT void + zproxy_test (bool verbose); +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zrex.h b/phonelibs/zmq/x64/include/zrex.h new file mode 100644 index 000000000..8b50618a3 --- /dev/null +++ b/phonelibs/zmq/x64/include/zrex.h @@ -0,0 +1,82 @@ +/* ========================================================================= + zrex - work with regular expressions + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZREX_H_INCLUDED__ +#define __ZREX_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +// Constructor. Optionally, sets an expression against which we can match +// text and capture hits. If there is an error in the expression, reports +// zrex_valid() as false and provides the error in zrex_strerror(). If you +// set a pattern, you can call zrex_matches() to test it against text. +CZMQ_EXPORT zrex_t * + zrex_new (const char *expression); + +// Destructor +CZMQ_EXPORT void + zrex_destroy (zrex_t **self_p); + +// Return true if the expression was valid and compiled without errors. +CZMQ_EXPORT bool + zrex_valid (zrex_t *self); + +// Return the error message generated during compilation of the expression. +CZMQ_EXPORT const char * + zrex_strerror (zrex_t *self); + +// Returns true if the text matches the previously compiled expression. +// Use this method to compare one expression against many strings. +CZMQ_EXPORT bool + zrex_matches (zrex_t *self, const char *text); + +// Returns true if the text matches the supplied expression. Use this +// method to compare one string against several expressions. +CZMQ_EXPORT bool + zrex_eq (zrex_t *self, const char *text, const char *expression); + +// Returns number of hits from last zrex_matches or zrex_eq. If the text +// matched, returns 1 plus the number of capture groups. If the text did +// not match, returns zero. To retrieve individual capture groups, call +// zrex_hit (). +CZMQ_EXPORT int + zrex_hits (zrex_t *self); + +// Returns the Nth capture group from the last expression match, where +// N is 0 to the value returned by zrex_hits(). Capture group 0 is the +// whole matching string. Sequence 1 is the first capture group, if any, +// and so on. +CZMQ_EXPORT const char * + zrex_hit (zrex_t *self, uint index); + +// Fetches hits into string variables provided by caller; this makes for +// nicer code than accessing hits by index. Caller should not modify nor +// free the returned values. Returns number of strings returned. This +// method starts at hit 1, i.e. first capture group, as hit 0 is always +// the original matched string. +CZMQ_EXPORT int + zrex_fetch (zrex_t *self, const char **string_p, ...); + +// Self test of this class +CZMQ_EXPORT void + zrex_test (bool verbose); +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zsock.h b/phonelibs/zmq/x64/include/zsock.h new file mode 100644 index 000000000..9ab060d6a --- /dev/null +++ b/phonelibs/zmq/x64/include/zsock.h @@ -0,0 +1,1159 @@ +/* ========================================================================= + zsock - high-level socket API that hides libzmq contexts and sockets + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZSOCK_H_INCLUDED__ +#define __ZSOCK_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// This interface includes some smart constructors, which create sockets with +// additional set-up. In all of these, the endpoint is NULL, or starts with +// '@' (bind) or '>' (connect). Multiple endpoints are allowed, separated by +// commas. If endpoint does not start with '@' or '>', default action depends +// on socket type. + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zsock.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +// Create a new socket. Returns the new socket, or NULL if the new socket +// could not be created. Note that the symbol zsock_new (and other +// constructors/destructors for zsock) are redirected to the *_checked +// variant, enabling intelligent socket leak detection. This can have +// performance implications if you use a LOT of sockets. To turn off this +// redirection behaviour, define ZSOCK_NOCHECK. +CZMQ_EXPORT zsock_t * + zsock_new (int type); + +// Create a PUB socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_pub (const char *endpoint); + +// Create a SUB socket, and optionally subscribe to some prefix string. Default +// action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_sub (const char *endpoint, const char *subscribe); + +// Create a REQ socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_req (const char *endpoint); + +// Create a REP socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_rep (const char *endpoint); + +// Create a DEALER socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_dealer (const char *endpoint); + +// Create a ROUTER socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_router (const char *endpoint); + +// Create a PUSH socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_push (const char *endpoint); + +// Create a PULL socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_pull (const char *endpoint); + +// Create an XPUB socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_xpub (const char *endpoint); + +// Create an XSUB socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_xsub (const char *endpoint); + +// Create a PAIR socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_pair (const char *endpoint); + +// Create a STREAM socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_stream (const char *endpoint); + +// Destroy the socket. You must use this for any socket created via the +// zsock_new method. +CZMQ_EXPORT void + zsock_destroy (zsock_t **self_p); + +// Bind a socket to a formatted endpoint. For tcp:// endpoints, supports +// ephemeral ports, if you specify the port number as "*". By default +// zsock uses the IANA designated range from C000 (49152) to FFFF (65535). +// To override this range, follow the "*" with "[first-last]". Either or +// both first and last may be empty. To bind to a random port within the +// range, use "!" in place of "*". +// +// Examples: +// tcp://127.0.0.1:* bind to first free port from C000 up +// tcp://127.0.0.1:! bind to random port from C000 to FFFF +// tcp://127.0.0.1:*[60000-] bind to first free port from 60000 up +// tcp://127.0.0.1:![-60000] bind to random port from C000 to 60000 +// tcp://127.0.0.1:![55000-55999] +// bind to random port from 55000 to 55999 +// +// On success, returns the actual port number used, for tcp:// endpoints, +// and 0 for other transports. On failure, returns -1. Note that when using +// ephemeral ports, a port may be reused by different services without +// clients being aware. Protocols that run on ephemeral ports should take +// this into account. +CZMQ_EXPORT int + zsock_bind (zsock_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Returns last bound endpoint, if any. +CZMQ_EXPORT const char * + zsock_endpoint (zsock_t *self); + +// Unbind a socket from a formatted endpoint. +// Returns 0 if OK, -1 if the endpoint was invalid or the function +// isn't supported. +CZMQ_EXPORT int + zsock_unbind (zsock_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Connect a socket to a formatted endpoint +// Returns 0 if OK, -1 if the endpoint was invalid. +CZMQ_EXPORT int + zsock_connect (zsock_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Disconnect a socket from a formatted endpoint +// Returns 0 if OK, -1 if the endpoint was invalid or the function +// isn't supported. +CZMQ_EXPORT int + zsock_disconnect (zsock_t *self, const char *format, ...) CHECK_PRINTF (2); + +// Attach a socket to zero or more endpoints. If endpoints is not null, +// parses as list of ZeroMQ endpoints, separated by commas, and prefixed by +// '@' (to bind the socket) or '>' (to connect the socket). Returns 0 if all +// endpoints were valid, or -1 if there was a syntax error. If the endpoint +// does not start with '@' or '>', the serverish argument defines whether +// it is used to bind (serverish = true) or connect (serverish = false). +CZMQ_EXPORT int + zsock_attach (zsock_t *self, const char *endpoints, bool serverish); + +// Returns socket type as printable constant string. +CZMQ_EXPORT const char * + zsock_type_str (zsock_t *self); + +// Send a 'picture' message to the socket (or actor). The picture is a +// string that defines the type of each frame. This makes it easy to send +// a complex multiframe message in one call. The picture can contain any +// of these characters, each corresponding to one or two arguments: +// +// i = int (signed) +// 1 = uint8_t +// 2 = uint16_t +// 4 = uint32_t +// 8 = uint64_t +// s = char * +// b = byte *, size_t (2 arguments) +// c = zchunk_t * +// f = zframe_t * +// h = zhashx_t * +// U = zuuid_t * +// p = void * (sends the pointer value, only meaningful over inproc) +// m = zmsg_t * (sends all frames in the zmsg) +// z = sends zero-sized frame (0 arguments) +// u = uint (deprecated) +// +// Note that s, b, c, and f are encoded the same way and the choice is +// offered as a convenience to the sender, which may or may not already +// have data in a zchunk or zframe. Does not change or take ownership of +// any arguments. Returns 0 if successful, -1 if sending failed for any +// reason. +CZMQ_EXPORT int + zsock_send (void *self, const char *picture, ...); + +// Send a 'picture' message to the socket (or actor). This is a va_list +// version of zsock_send (), so please consult its documentation for the +// details. +CZMQ_EXPORT int + zsock_vsend (void *self, const char *picture, va_list argptr); + +// Receive a 'picture' message to the socket (or actor). See zsock_send for +// the format and meaning of the picture. Returns the picture elements into +// a series of pointers as provided by the caller: +// +// i = int * (stores signed integer) +// 4 = uint32_t * (stores 32-bit unsigned integer) +// 8 = uint64_t * (stores 64-bit unsigned integer) +// s = char ** (allocates new string) +// b = byte **, size_t * (2 arguments) (allocates memory) +// c = zchunk_t ** (creates zchunk) +// f = zframe_t ** (creates zframe) +// U = zuuid_t * (creates a zuuid with the data) +// h = zhashx_t ** (creates zhashx) +// p = void ** (stores pointer) +// m = zmsg_t ** (creates a zmsg with the remaing frames) +// z = null, asserts empty frame (0 arguments) +// u = uint * (stores unsigned integer, deprecated) +// +// Note that zsock_recv creates the returned objects, and the caller must +// destroy them when finished with them. The supplied pointers do not need +// to be initialized. Returns 0 if successful, or -1 if it failed to recv +// a message, in which case the pointers are not modified. When message +// frames are truncated (a short message), sets return values to zero/null. +// If an argument pointer is NULL, does not store any value (skips it). +// An 'n' picture matches an empty frame; if the message does not match, +// the method will return -1. +CZMQ_EXPORT int + zsock_recv (void *self, const char *picture, ...); + +// Receive a 'picture' message from the socket (or actor). This is a +// va_list version of zsock_recv (), so please consult its documentation +// for the details. +CZMQ_EXPORT int + zsock_vrecv (void *self, const char *picture, va_list argptr); + +// Send a binary encoded 'picture' message to the socket (or actor). This +// method is similar to zsock_send, except the arguments are encoded in a +// binary format that is compatible with zproto, and is designed to reduce +// memory allocations. The pattern argument is a string that defines the +// type of each argument. Supports these argument types: +// +// pattern C type zproto type: +// 1 uint8_t type = "number" size = "1" +// 2 uint16_t type = "number" size = "2" +// 4 uint32_t type = "number" size = "3" +// 8 uint64_t type = "number" size = "4" +// s char *, 0-255 chars type = "string" +// S char *, 0-2^32-1 chars type = "longstr" +// c zchunk_t * type = "chunk" +// f zframe_t * type = "frame" +// u zuuid_t * type = "uuid" +// m zmsg_t * type = "msg" +// p void *, sends pointer value, only over inproc +// +// Does not change or take ownership of any arguments. Returns 0 if +// successful, -1 if sending failed for any reason. +CZMQ_EXPORT int + zsock_bsend (void *self, const char *picture, ...); + +// Receive a binary encoded 'picture' message from the socket (or actor). +// This method is similar to zsock_recv, except the arguments are encoded +// in a binary format that is compatible with zproto, and is designed to +// reduce memory allocations. The pattern argument is a string that defines +// the type of each argument. See zsock_bsend for the supported argument +// types. All arguments must be pointers; this call sets them to point to +// values held on a per-socket basis. +// Note that zsock_brecv creates the returned objects, and the caller must +// destroy them when finished with them. The supplied pointers do not need +// to be initialized. Returns 0 if successful, or -1 if it failed to read +// a message. +CZMQ_EXPORT int + zsock_brecv (void *self, const char *picture, ...); + +// Set socket to use unbounded pipes (HWM=0); use this in cases when you are +// totally certain the message volume can fit in memory. This method works +// across all versions of ZeroMQ. Takes a polymorphic socket reference. +CZMQ_EXPORT void + zsock_set_unbounded (void *self); + +// Send a signal over a socket. A signal is a short message carrying a +// success/failure code (by convention, 0 means OK). Signals are encoded +// to be distinguishable from "normal" messages. Accepts a zsock_t or a +// zactor_t argument, and returns 0 if successful, -1 if the signal could +// not be sent. Takes a polymorphic socket reference. +CZMQ_EXPORT int + zsock_signal (void *self, byte status); + +// Wait on a signal. Use this to coordinate between threads, over pipe +// pairs. Blocks until the signal is received. Returns -1 on error, 0 or +// greater on success. Accepts a zsock_t or a zactor_t as argument. +// Takes a polymorphic socket reference. +CZMQ_EXPORT int + zsock_wait (void *self); + +// If there is a partial message still waiting on the socket, remove and +// discard it. This is useful when reading partial messages, to get specific +// message types. +CZMQ_EXPORT void + zsock_flush (void *self); + +// Probe the supplied object, and report if it looks like a zsock_t. +// Takes a polymorphic socket reference. +CZMQ_EXPORT bool + zsock_is (void *self); + +// Probe the supplied reference. If it looks like a zsock_t instance, return +// the underlying libzmq socket handle; else if it looks like a file +// descriptor, return NULL; else if it looks like a libzmq socket handle, +// return the supplied value. Takes a polymorphic socket reference. +CZMQ_EXPORT void * + zsock_resolve (void *self); + +// Get socket option `heartbeat_ivl`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_heartbeat_ivl (void *self); + +// Set socket option `heartbeat_ivl`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_heartbeat_ivl (void *self, int heartbeat_ivl); + +// Get socket option `heartbeat_ttl`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_heartbeat_ttl (void *self); + +// Set socket option `heartbeat_ttl`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_heartbeat_ttl (void *self, int heartbeat_ttl); + +// Get socket option `heartbeat_timeout`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_heartbeat_timeout (void *self); + +// Set socket option `heartbeat_timeout`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_heartbeat_timeout (void *self, int heartbeat_timeout); + +// Get socket option `use_fd`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_use_fd (void *self); + +// Set socket option `use_fd`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_use_fd (void *self, int use_fd); + +// Set socket option `xpub_manual`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_xpub_manual (void *self, int xpub_manual); + +// Set socket option `xpub_welcome_msg`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_xpub_welcome_msg (void *self, const char *xpub_welcome_msg); + +// Set socket option `stream_notify`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_stream_notify (void *self, int stream_notify); + +// Get socket option `invert_matching`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_invert_matching (void *self); + +// Set socket option `invert_matching`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_invert_matching (void *self, int invert_matching); + +// Set socket option `xpub_verboser`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_xpub_verboser (void *self, int xpub_verboser); + +// Get socket option `connect_timeout`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_connect_timeout (void *self); + +// Set socket option `connect_timeout`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_connect_timeout (void *self, int connect_timeout); + +// Get socket option `tcp_maxrt`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_tcp_maxrt (void *self); + +// Set socket option `tcp_maxrt`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_tcp_maxrt (void *self, int tcp_maxrt); + +// Get socket option `thread_safe`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_thread_safe (void *self); + +// Get socket option `multicast_maxtpdu`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_multicast_maxtpdu (void *self); + +// Set socket option `multicast_maxtpdu`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_multicast_maxtpdu (void *self, int multicast_maxtpdu); + +// Get socket option `vmci_buffer_size`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_vmci_buffer_size (void *self); + +// Set socket option `vmci_buffer_size`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_vmci_buffer_size (void *self, int vmci_buffer_size); + +// Get socket option `vmci_buffer_min_size`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_vmci_buffer_min_size (void *self); + +// Set socket option `vmci_buffer_min_size`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_vmci_buffer_min_size (void *self, int vmci_buffer_min_size); + +// Get socket option `vmci_buffer_max_size`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_vmci_buffer_max_size (void *self); + +// Set socket option `vmci_buffer_max_size`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_vmci_buffer_max_size (void *self, int vmci_buffer_max_size); + +// Get socket option `vmci_connect_timeout`. +// Available from libzmq 4.2.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_vmci_connect_timeout (void *self); + +// Set socket option `vmci_connect_timeout`. +// Available from libzmq 4.2.0. +CZMQ_EXPORT void + zsock_set_vmci_connect_timeout (void *self, int vmci_connect_timeout); + +// Get socket option `tos`. +// Available from libzmq 4.1.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_tos (void *self); + +// Set socket option `tos`. +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_tos (void *self, int tos); + +// Set socket option `router_handover`. +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_router_handover (void *self, int router_handover); + +// Set socket option `connect_rid`. +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_connect_rid (void *self, const char *connect_rid); + +// Set socket option `connect_rid` from 32-octet binary +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_connect_rid_bin (void *self, const byte *connect_rid); + +// Get socket option `handshake_ivl`. +// Available from libzmq 4.1.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_handshake_ivl (void *self); + +// Set socket option `handshake_ivl`. +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_handshake_ivl (void *self, int handshake_ivl); + +// Get socket option `socks_proxy`. +// Available from libzmq 4.1.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_socks_proxy (void *self); + +// Set socket option `socks_proxy`. +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_socks_proxy (void *self, const char *socks_proxy); + +// Set socket option `xpub_nodrop`. +// Available from libzmq 4.1.0. +CZMQ_EXPORT void + zsock_set_xpub_nodrop (void *self, int xpub_nodrop); + +// Set socket option `router_mandatory`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_router_mandatory (void *self, int router_mandatory); + +// Set socket option `probe_router`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_probe_router (void *self, int probe_router); + +// Set socket option `req_relaxed`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_req_relaxed (void *self, int req_relaxed); + +// Set socket option `req_correlate`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_req_correlate (void *self, int req_correlate); + +// Set socket option `conflate`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_conflate (void *self, int conflate); + +// Get socket option `zap_domain`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_zap_domain (void *self); + +// Set socket option `zap_domain`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_zap_domain (void *self, const char *zap_domain); + +// Get socket option `mechanism`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_mechanism (void *self); + +// Get socket option `plain_server`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_plain_server (void *self); + +// Set socket option `plain_server`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_plain_server (void *self, int plain_server); + +// Get socket option `plain_username`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_plain_username (void *self); + +// Set socket option `plain_username`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_plain_username (void *self, const char *plain_username); + +// Get socket option `plain_password`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_plain_password (void *self); + +// Set socket option `plain_password`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_plain_password (void *self, const char *plain_password); + +// Get socket option `curve_server`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_curve_server (void *self); + +// Set socket option `curve_server`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_server (void *self, int curve_server); + +// Get socket option `curve_publickey`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_curve_publickey (void *self); + +// Set socket option `curve_publickey`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_publickey (void *self, const char *curve_publickey); + +// Set socket option `curve_publickey` from 32-octet binary +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_publickey_bin (void *self, const byte *curve_publickey); + +// Get socket option `curve_secretkey`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_curve_secretkey (void *self); + +// Set socket option `curve_secretkey`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_secretkey (void *self, const char *curve_secretkey); + +// Set socket option `curve_secretkey` from 32-octet binary +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_secretkey_bin (void *self, const byte *curve_secretkey); + +// Get socket option `curve_serverkey`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_curve_serverkey (void *self); + +// Set socket option `curve_serverkey`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_serverkey (void *self, const char *curve_serverkey); + +// Set socket option `curve_serverkey` from 32-octet binary +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_curve_serverkey_bin (void *self, const byte *curve_serverkey); + +// Get socket option `gssapi_server`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_gssapi_server (void *self); + +// Set socket option `gssapi_server`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_gssapi_server (void *self, int gssapi_server); + +// Get socket option `gssapi_plaintext`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_gssapi_plaintext (void *self); + +// Set socket option `gssapi_plaintext`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_gssapi_plaintext (void *self, int gssapi_plaintext); + +// Get socket option `gssapi_principal`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_gssapi_principal (void *self); + +// Set socket option `gssapi_principal`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_gssapi_principal (void *self, const char *gssapi_principal); + +// Get socket option `gssapi_service_principal`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_gssapi_service_principal (void *self); + +// Set socket option `gssapi_service_principal`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_gssapi_service_principal (void *self, const char *gssapi_service_principal); + +// Get socket option `ipv6`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_ipv6 (void *self); + +// Set socket option `ipv6`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_ipv6 (void *self, int ipv6); + +// Get socket option `immediate`. +// Available from libzmq 4.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_immediate (void *self); + +// Set socket option `immediate`. +// Available from libzmq 4.0.0. +CZMQ_EXPORT void + zsock_set_immediate (void *self, int immediate); + +// Get socket option `type`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_type (void *self); + +// Get socket option `sndhwm`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_sndhwm (void *self); + +// Set socket option `sndhwm`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_sndhwm (void *self, int sndhwm); + +// Get socket option `rcvhwm`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_rcvhwm (void *self); + +// Set socket option `rcvhwm`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_rcvhwm (void *self, int rcvhwm); + +// Get socket option `affinity`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_affinity (void *self); + +// Set socket option `affinity`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_affinity (void *self, int affinity); + +// Set socket option `subscribe`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_subscribe (void *self, const char *subscribe); + +// Set socket option `unsubscribe`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_unsubscribe (void *self, const char *unsubscribe); + +// Get socket option `identity`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_identity (void *self); + +// Set socket option `identity`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_identity (void *self, const char *identity); + +// Get socket option `rate`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_rate (void *self); + +// Set socket option `rate`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_rate (void *self, int rate); + +// Get socket option `recovery_ivl`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_recovery_ivl (void *self); + +// Set socket option `recovery_ivl`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_recovery_ivl (void *self, int recovery_ivl); + +// Get socket option `sndbuf`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_sndbuf (void *self); + +// Set socket option `sndbuf`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_sndbuf (void *self, int sndbuf); + +// Get socket option `rcvbuf`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_rcvbuf (void *self); + +// Set socket option `rcvbuf`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_rcvbuf (void *self, int rcvbuf); + +// Get socket option `linger`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_linger (void *self); + +// Set socket option `linger`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_linger (void *self, int linger); + +// Get socket option `reconnect_ivl`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_reconnect_ivl (void *self); + +// Set socket option `reconnect_ivl`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_reconnect_ivl (void *self, int reconnect_ivl); + +// Get socket option `reconnect_ivl_max`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_reconnect_ivl_max (void *self); + +// Set socket option `reconnect_ivl_max`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_reconnect_ivl_max (void *self, int reconnect_ivl_max); + +// Get socket option `backlog`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_backlog (void *self); + +// Set socket option `backlog`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_backlog (void *self, int backlog); + +// Get socket option `maxmsgsize`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_maxmsgsize (void *self); + +// Set socket option `maxmsgsize`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_maxmsgsize (void *self, int maxmsgsize); + +// Get socket option `multicast_hops`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_multicast_hops (void *self); + +// Set socket option `multicast_hops`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_multicast_hops (void *self, int multicast_hops); + +// Get socket option `rcvtimeo`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_rcvtimeo (void *self); + +// Set socket option `rcvtimeo`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_rcvtimeo (void *self, int rcvtimeo); + +// Get socket option `sndtimeo`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_sndtimeo (void *self); + +// Set socket option `sndtimeo`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_sndtimeo (void *self, int sndtimeo); + +// Set socket option `xpub_verbose`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_xpub_verbose (void *self, int xpub_verbose); + +// Get socket option `tcp_keepalive`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_tcp_keepalive (void *self); + +// Set socket option `tcp_keepalive`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_tcp_keepalive (void *self, int tcp_keepalive); + +// Get socket option `tcp_keepalive_idle`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_tcp_keepalive_idle (void *self); + +// Set socket option `tcp_keepalive_idle`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_tcp_keepalive_idle (void *self, int tcp_keepalive_idle); + +// Get socket option `tcp_keepalive_cnt`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_tcp_keepalive_cnt (void *self); + +// Set socket option `tcp_keepalive_cnt`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_tcp_keepalive_cnt (void *self, int tcp_keepalive_cnt); + +// Get socket option `tcp_keepalive_intvl`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_tcp_keepalive_intvl (void *self); + +// Set socket option `tcp_keepalive_intvl`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_tcp_keepalive_intvl (void *self, int tcp_keepalive_intvl); + +// Get socket option `tcp_accept_filter`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_tcp_accept_filter (void *self); + +// Set socket option `tcp_accept_filter`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_tcp_accept_filter (void *self, const char *tcp_accept_filter); + +// Get socket option `rcvmore`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_rcvmore (void *self); + +// Get socket option `fd`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT SOCKET + zsock_fd (void *self); + +// Get socket option `events`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_events (void *self); + +// Get socket option `last_endpoint`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zsock_last_endpoint (void *self); + +// Set socket option `router_raw`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_router_raw (void *self, int router_raw); + +// Get socket option `ipv4only`. +// Available from libzmq 3.0.0. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT int + zsock_ipv4only (void *self); + +// Set socket option `ipv4only`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_ipv4only (void *self, int ipv4only); + +// Set socket option `delay_attach_on_connect`. +// Available from libzmq 3.0.0. +CZMQ_EXPORT void + zsock_set_delay_attach_on_connect (void *self, int delay_attach_on_connect); + +// Self test of this class. +CZMQ_EXPORT void + zsock_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Create a SERVER socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_server (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Create a CLIENT socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_client (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Create a RADIO socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_radio (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Create a DISH socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_dish (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Create a GATHER socket. Default action is bind. +CZMQ_EXPORT zsock_t * + zsock_new_gather (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Create a SCATTER socket. Default action is connect. +CZMQ_EXPORT zsock_t * + zsock_new_scatter (const char *endpoint); + +// *** Draft method, for development use, may change without warning *** +// Return socket routing ID if any. This returns 0 if the socket is not +// of type ZMQ_SERVER or if no request was already received on it. +CZMQ_EXPORT uint32_t + zsock_routing_id (zsock_t *self); + +// *** Draft method, for development use, may change without warning *** +// Set routing ID on socket. The socket MUST be of type ZMQ_SERVER. +// This will be used when sending messages on the socket via the zsock API. +CZMQ_EXPORT void + zsock_set_routing_id (zsock_t *self, uint32_t routing_id); + +// *** Draft method, for development use, may change without warning *** +// Join a group for the RADIO-DISH pattern. Call only on ZMQ_DISH. +// Returns 0 if OK, -1 if failed. +CZMQ_EXPORT int + zsock_join (void *self, const char *group); + +// *** Draft method, for development use, may change without warning *** +// Leave a group for the RADIO-DISH pattern. Call only on ZMQ_DISH. +// Returns 0 if OK, -1 if failed. +CZMQ_EXPORT int + zsock_leave (void *self, const char *group); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +// zsock leak detection - not a part of the official interface to zsock. This +// enables CZMQ to report socket leaks intelligently. +#if defined ZSOCK_NOCHECK + // no checking active - use the above interface methods directly. +#else +# define zsock_new(t) zsock_new_checked((t), __FILE__, __LINE__) +# define zsock_new_pub(e) zsock_new_pub_checked((e), __FILE__, __LINE__) +# define zsock_new_sub(e,s) zsock_new_sub_checked((e), (s), __FILE__, __LINE__) +# define zsock_new_req(e) zsock_new_req_checked((e), __FILE__, __LINE__) +# define zsock_new_rep(e) zsock_new_rep_checked((e), __FILE__, __LINE__) +# define zsock_new_dealer(e) zsock_new_dealer_checked((e), __FILE__, __LINE__) +# define zsock_new_router(e) zsock_new_router_checked((e), __FILE__, __LINE__) +# define zsock_new_pull(e) zsock_new_pull_checked((e), __FILE__, __LINE__) +# define zsock_new_push(e) zsock_new_push_checked((e), __FILE__, __LINE__) +# define zsock_new_xpub(e) zsock_new_xpub_checked((e), __FILE__, __LINE__) +# define zsock_new_xsub(e) zsock_new_xsub_checked((e), __FILE__, __LINE__) +# define zsock_new_pair(e) zsock_new_pair_checked((e), __FILE__, __LINE__) +# define zsock_new_stream(e) zsock_new_stream_checked((e), __FILE__, __LINE__) +# define zsock_destroy(t) zsock_destroy_checked((t), __FILE__, __LINE__) +#endif + +CZMQ_EXPORT zsock_t * + zsock_new_checked (int type, const char *filename, size_t line_nbr); + +CZMQ_EXPORT void + zsock_destroy_checked (zsock_t **self_p, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_pub_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_sub_checked (const char *endpoint, const char *subscribe, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_req_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_rep_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_dealer_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_router_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_push_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_pull_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_xpub_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_xsub_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_pair_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_stream_checked (const char *endpoint, const char *filename, size_t line_nbr); + +#ifdef CZMQ_BUILD_DRAFT_API +CZMQ_EXPORT zsock_t * + zsock_new_server_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_client_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_radio_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_dish_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_gather_checked (const char *endpoint, const char *filename, size_t line_nbr); + +CZMQ_EXPORT zsock_t * + zsock_new_scatter_checked (const char *endpoint, const char *filename, size_t line_nbr); +#endif // CZMQ_BUILD_DRAFT_API + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zstr.h b/phonelibs/zmq/x64/include/zstr.h new file mode 100644 index 000000000..67f2f852b --- /dev/null +++ b/phonelibs/zmq/x64/include/zstr.h @@ -0,0 +1,110 @@ +/* ========================================================================= + zstr - sending and receiving strings + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZSTR_H_INCLUDED__ +#define __ZSTR_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zstr.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// This class has draft methods, which may change over time. They are not +// in stable releases, by default. Use --enable-drafts to enable. +// Receive C string from socket. Caller must free returned string using +// zstr_free(). Returns NULL if the context is being terminated or the +// process was interrupted. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zstr_recv (void *source); + +// Receive a series of strings (until NULL) from multipart data. +// Each string is allocated and filled with string data; if there +// are not enough frames, unallocated strings are set to NULL. +// Returns -1 if the message could not be read, else returns the +// number of strings filled, zero or more. Free each returned string +// using zstr_free(). If not enough strings are provided, remaining +// multipart frames in the message are dropped. +CZMQ_EXPORT int + zstr_recvx (void *source, char **string_p, ...); + +// Send a C string to a socket, as a frame. The string is sent without +// trailing null byte; to read this you can use zstr_recv, or a similar +// method that adds a null terminator on the received string. String +// may be NULL, which is sent as "". +CZMQ_EXPORT int + zstr_send (void *dest, const char *string); + +// Send a C string to a socket, as zstr_send(), with a MORE flag, so that +// you can send further strings in the same multi-part message. +CZMQ_EXPORT int + zstr_sendm (void *dest, const char *string); + +// Send a formatted string to a socket. Note that you should NOT use +// user-supplied strings in the format (they may contain '%' which +// will create security holes). +CZMQ_EXPORT int + zstr_sendf (void *dest, const char *format, ...) CHECK_PRINTF (2); + +// Send a formatted string to a socket, as for zstr_sendf(), with a +// MORE flag, so that you can send further strings in the same multi-part +// message. +CZMQ_EXPORT int + zstr_sendfm (void *dest, const char *format, ...) CHECK_PRINTF (2); + +// Send a series of strings (until NULL) as multipart data +// Returns 0 if the strings could be sent OK, or -1 on error. +CZMQ_EXPORT int + zstr_sendx (void *dest, const char *string, ...); + +// Free a provided string, and nullify the parent pointer. Safe to call on +// a null pointer. +CZMQ_EXPORT void + zstr_free (char **string_p); + +// Self test of this class. +CZMQ_EXPORT void + zstr_test (bool verbose); + +#ifdef CZMQ_BUILD_DRAFT_API +// *** Draft method, for development use, may change without warning *** +// Accepts a void pointer and returns a fresh character string. If source +// is null, returns an empty string. +// Caller owns return value and must destroy it when done. +CZMQ_EXPORT char * + zstr_str (void *source); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +// DEPRECATED as poor style -- callers should use zloop or zpoller +// Receive C string from socket, if socket had input ready. Caller must +// free returned string using zstr_free. Returns NULL if there was no input +// waiting, or if the context was terminated. Use zctx_interrupted to exit +// any loop that relies on this method. +CZMQ_EXPORT char * + zstr_recv_nowait (void *source); + +// Compiler hints +CZMQ_EXPORT int zstr_sendf (void *dest, const char *format, ...) CHECK_PRINTF (2); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zsys.h b/phonelibs/zmq/x64/include/zsys.h new file mode 100644 index 000000000..200271d92 --- /dev/null +++ b/phonelibs/zmq/x64/include/zsys.h @@ -0,0 +1,395 @@ +/* ========================================================================= + zsys - system-level methods + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZSYS_H_INCLUDED__ +#define __ZSYS_H_INCLUDED__ + +#ifdef __cplusplus +extern "C" { +#endif + +// @interface +#define UDP_FRAME_MAX 255 // Max size of UDP frame + +// Callback for interrupt signal handler +typedef void (zsys_handler_fn) (int signal_value); + +// Initialize CZMQ zsys layer; this happens automatically when you create +// a socket or an actor; however this call lets you force initialization +// earlier, so e.g. logging is properly set-up before you start working. +// Not threadsafe, so call only from main thread. Safe to call multiple +// times. Returns global CZMQ context. +CZMQ_EXPORT void * + zsys_init (void); + +// Optionally shut down the CZMQ zsys layer; this normally happens automatically +// when the process exits; however this call lets you force a shutdown +// earlier, avoiding any potential problems with atexit() ordering, especially +// with Windows dlls. +CZMQ_EXPORT void + zsys_shutdown (void); + +// Get a new ZMQ socket, automagically creating a ZMQ context if this is +// the first time. Caller is responsible for destroying the ZMQ socket +// before process exits, to avoid a ZMQ deadlock. Note: you should not use +// this method in CZMQ apps, use zsock_new() instead. +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT void * + zsys_socket (int type, const char *filename, size_t line_nbr); + +// Destroy/close a ZMQ socket. You should call this for every socket you +// create using zsys_socket(). +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT int + zsys_close (void *handle, const char *filename, size_t line_nbr); + +// Return ZMQ socket name for socket type +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT char * + zsys_sockname (int socktype); + +// Create a pipe, which consists of two PAIR sockets connected over inproc. +// The pipe is configured to use the zsys_pipehwm setting. Returns the +// frontend socket successful, NULL if failed. +CZMQ_EXPORT zsock_t * + zsys_create_pipe (zsock_t **backend_p); + +// Set interrupt handler; this saves the default handlers so that a +// zsys_handler_reset () can restore them. If you call this multiple times +// then the last handler will take affect. If handler_fn is NULL, disables +// default SIGINT/SIGTERM handling in CZMQ. +CZMQ_EXPORT void + zsys_handler_set (zsys_handler_fn *handler_fn); + +// Reset interrupt handler, call this at exit if needed +CZMQ_EXPORT void + zsys_handler_reset (void); + +// Set default interrupt handler, so Ctrl-C or SIGTERM will set +// zsys_interrupted. Idempotent; safe to call multiple times. +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT void + zsys_catch_interrupts (void); + +// Return 1 if file exists, else zero +CZMQ_EXPORT bool + zsys_file_exists (const char *filename); + +// Return size of file, or -1 if not found +CZMQ_EXPORT ssize_t + zsys_file_size (const char *filename); + +// Return file modification time. Returns 0 if the file does not exist. +CZMQ_EXPORT time_t + zsys_file_modified (const char *filename); + +// Return file mode; provides at least support for the POSIX S_ISREG(m) +// and S_ISDIR(m) macros and the S_IRUSR and S_IWUSR bits, on all boxes. +// Returns a mode_t cast to int, or -1 in case of error. +CZMQ_EXPORT int + zsys_file_mode (const char *filename); + +// Delete file. Does not complain if the file is absent +CZMQ_EXPORT int + zsys_file_delete (const char *filename); + +// Check if file is 'stable' +CZMQ_EXPORT bool + zsys_file_stable (const char *filename); + +// Create a file path if it doesn't exist. The file path is treated as a +// printf format. +CZMQ_EXPORT int + zsys_dir_create (const char *pathname, ...); + +// Remove a file path if empty; the pathname is treated as printf format. +CZMQ_EXPORT int + zsys_dir_delete (const char *pathname, ...); + +// Move to a specified working directory. Returns 0 if OK, -1 if this failed. +CZMQ_EXPORT int + zsys_dir_change (const char *pathname); + +// Set private file creation mode; all files created from here will be +// readable/writable by the owner only. +CZMQ_EXPORT void + zsys_file_mode_private (void); + +// Reset default file creation mode; all files created from here will use +// process file mode defaults. +CZMQ_EXPORT void + zsys_file_mode_default (void); + +// Return the CZMQ version for run-time API detection; returns version +// number into provided fields, providing reference isn't null in each case. +CZMQ_EXPORT void + zsys_version (int *major, int *minor, int *patch); + +// Format a string using printf formatting, returning a freshly allocated +// buffer. If there was insufficient memory, returns NULL. Free the returned +// string using zstr_free(). +CZMQ_EXPORT char * + zsys_sprintf (const char *format, ...); + +// Format a string with a va_list argument, returning a freshly allocated +// buffer. If there was insufficient memory, returns NULL. Free the returned +// string using zstr_free(). +CZMQ_EXPORT char * + zsys_vprintf (const char *format, va_list argptr); + +// Create UDP beacon socket; if the routable option is true, uses +// multicast (not yet implemented), else uses broadcast. This method +// and related ones might _eventually_ be moved to a zudp class. +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT SOCKET + zsys_udp_new (bool routable); + +// Close a UDP socket +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT int + zsys_udp_close (SOCKET handle); + +// Send zframe to UDP socket, return -1 if sending failed due to +// interface having disappeared (happens easily with WiFi) +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT int + zsys_udp_send (SOCKET udpsock, zframe_t *frame, inaddr_t *address, int addrlen); + +// Receive zframe from UDP socket, and set address of peer that sent it +// The peername must be a char [INET_ADDRSTRLEN] array. +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT zframe_t * + zsys_udp_recv (SOCKET udpsock, char *peername, int peerlen); + +// Handle an I/O error on some socket operation; will report and die on +// fatal errors, and continue silently on "try again" errors. +// *** This is for CZMQ internal use only and may change arbitrarily *** +CZMQ_EXPORT void + zsys_socket_error (const char *reason); + +// Return current host name, for use in public tcp:// endpoints. Caller gets +// a freshly allocated string, should free it using zstr_free(). If the host +// name is not resolvable, returns NULL. +CZMQ_EXPORT char * + zsys_hostname (void); + +// Move the current process into the background. The precise effect depends +// on the operating system. On POSIX boxes, moves to a specified working +// directory (if specified), closes all file handles, reopens stdin, stdout, +// and stderr to the null device, and sets the process to ignore SIGHUP. On +// Windows, does nothing. Returns 0 if OK, -1 if there was an error. +CZMQ_EXPORT int + zsys_daemonize (const char *workdir); + +// Drop the process ID into the lockfile, with exclusive lock, and switch +// the process to the specified group and/or user. Any of the arguments +// may be null, indicating a no-op. Returns 0 on success, -1 on failure. +// Note if you combine this with zsys_daemonize, run after, not before +// that method, or the lockfile will hold the wrong process ID. +CZMQ_EXPORT int + zsys_run_as (const char *lockfile, const char *group, const char *user); + +// Returns true if the underlying libzmq supports CURVE security. +// Uses a heuristic probe according to the version of libzmq being used. +CZMQ_EXPORT bool + zsys_has_curve (void); + +// Configure the number of I/O threads that ZeroMQ will use. A good +// rule of thumb is one thread per gigabit of traffic in or out. The +// default is 1, sufficient for most applications. If the environment +// variable ZSYS_IO_THREADS is defined, that provides the default. +// Note that this method is valid only before any socket is created. +CZMQ_EXPORT void + zsys_set_io_threads (size_t io_threads); + +// Configure the number of sockets that ZeroMQ will allow. The default +// is 1024. The actual limit depends on the system, and you can query it +// by using zsys_socket_limit (). A value of zero means "maximum". +// Note that this method is valid only before any socket is created. +CZMQ_EXPORT void + zsys_set_max_sockets (size_t max_sockets); + +// Return maximum number of ZeroMQ sockets that the system will support. +CZMQ_EXPORT size_t + zsys_socket_limit (void); + +// Configure the maximum allowed size of a message sent. +// The default is INT_MAX. +CZMQ_EXPORT void + zsys_set_max_msgsz (int max_msgsz); + +// Return maximum message size. +CZMQ_EXPORT int + zsys_max_msgsz (void); + +// Configure the default linger timeout in msecs for new zsock instances. +// You can also set this separately on each zsock_t instance. The default +// linger time is zero, i.e. any pending messages will be dropped. If the +// environment variable ZSYS_LINGER is defined, that provides the default. +// Note that process exit will typically be delayed by the linger time. +CZMQ_EXPORT void + zsys_set_linger (size_t linger); + +// Configure the default outgoing pipe limit (HWM) for new zsock instances. +// You can also set this separately on each zsock_t instance. The default +// HWM is 1,000, on all versions of ZeroMQ. If the environment variable +// ZSYS_SNDHWM is defined, that provides the default. Note that a value of +// zero means no limit, i.e. infinite memory consumption. +CZMQ_EXPORT void + zsys_set_sndhwm (size_t sndhwm); + +// Configure the default incoming pipe limit (HWM) for new zsock instances. +// You can also set this separately on each zsock_t instance. The default +// HWM is 1,000, on all versions of ZeroMQ. If the environment variable +// ZSYS_RCVHWM is defined, that provides the default. Note that a value of +// zero means no limit, i.e. infinite memory consumption. +CZMQ_EXPORT void + zsys_set_rcvhwm (size_t rcvhwm); + +// Configure the default HWM for zactor internal pipes; this is set on both +// ends of the pipe, for outgoing messages only (sndhwm). The default HWM is +// 1,000, on all versions of ZeroMQ. If the environment var ZSYS_ACTORHWM is +// defined, that provides the default. Note that a value of zero means no +// limit, i.e. infinite memory consumption. +CZMQ_EXPORT void + zsys_set_pipehwm (size_t pipehwm); + +// Return the HWM for zactor internal pipes. +CZMQ_EXPORT size_t + zsys_pipehwm (void); + +// Configure use of IPv6 for new zsock instances. By default sockets accept +// and make only IPv4 connections. When you enable IPv6, sockets will accept +// and connect to both IPv4 and IPv6 peers. You can override the setting on +// each zsock_t instance. The default is IPv4 only (ipv6 set to 0). If the +// environment variable ZSYS_IPV6 is defined (as 1 or 0), this provides the +// default. Note: has no effect on ZMQ v2. +CZMQ_EXPORT void + zsys_set_ipv6 (int ipv6); + +// Return use of IPv6 for zsock instances. +CZMQ_EXPORT int + zsys_ipv6 (void); + +// Set network interface name to use for broadcasts, particularly zbeacon. +// This lets the interface be configured for test environments where required. +// For example, on Mac OS X, zbeacon cannot bind to 255.255.255.255 which is +// the default when there is no specified interface. If the environment +// variable ZSYS_INTERFACE is set, use that as the default interface name. +// Setting the interface to "*" means "use all available interfaces". +CZMQ_EXPORT void + zsys_set_interface (const char *value); + +// Return network interface to use for broadcasts, or "" if none was set. +CZMQ_EXPORT const char * + zsys_interface (void); + +// Set IPv6 address to use zbeacon socket, particularly for receiving zbeacon. +// This needs to be set IPv6 is enabled as IPv6 can have multiple addresses +// on a given interface. If the environment variable ZSYS_IPV6_ADDRESS is set, +// use that as the default IPv6 address. +CZMQ_EXPORT void + zsys_set_ipv6_address (const char *value); + +// Return IPv6 address to use for zbeacon reception, or "" if none was set. +CZMQ_EXPORT const char * + zsys_ipv6_address (void); + +// Set IPv6 milticast address to use for sending zbeacon messages. This needs +// to be set if IPv6 is enabled. If the environment variable +// ZSYS_IPV6_MCAST_ADDRESS is set, use that as the default IPv6 multicast +// address. +CZMQ_EXPORT void + zsys_set_ipv6_mcast_address (const char *value); + +// Return IPv6 multicast address to use for sending zbeacon, or "" if none was +// set. +CZMQ_EXPORT const char * + zsys_ipv6_mcast_address (void); + +// Configure the automatic use of pre-allocated FDs when creating new sockets. +// If 0 (default), nothing will happen. Else, when a new socket is bound, the +// system API will be used to check if an existing pre-allocated FD with a +// matching port (if TCP) or path (if IPC) exists, and if it does it will be +// set via the ZMQ_USE_FD socket option so that the library will use it +// instead of creating a new socket. +CZMQ_EXPORT void + zsys_set_auto_use_fd (int auto_use_fd); + +// Return use of automatic pre-allocated FDs for zsock instances. +CZMQ_EXPORT int + zsys_auto_use_fd (void); + +// Set log identity, which is a string that prefixes all log messages sent +// by this process. The log identity defaults to the environment variable +// ZSYS_LOGIDENT, if that is set. +CZMQ_EXPORT void + zsys_set_logident (const char *value); + +// Set stream to receive log traffic. By default, log traffic is sent to +// stdout. If you set the stream to NULL, no stream will receive the log +// traffic (it may still be sent to the system facility). +CZMQ_EXPORT void + zsys_set_logstream (FILE *stream); + +// Sends log output to a PUB socket bound to the specified endpoint. To +// collect such log output, create a SUB socket, subscribe to the traffic +// you care about, and connect to the endpoint. Log traffic is sent as a +// single string frame, in the same format as when sent to stdout. The +// log system supports a single sender; multiple calls to this method will +// bind the same sender to multiple endpoints. To disable the sender, call +// this method with a null argument. +CZMQ_EXPORT void + zsys_set_logsender (const char *endpoint); + +// Enable or disable logging to the system facility (syslog on POSIX boxes, +// event log on Windows). By default this is disabled. +CZMQ_EXPORT void + zsys_set_logsystem (bool logsystem); + +// Log error condition - highest priority +CZMQ_EXPORT void + zsys_error (const char *format, ...); + +// Log warning condition - high priority +CZMQ_EXPORT void + zsys_warning (const char *format, ...); + +// Log normal, but significant, condition - normal priority +CZMQ_EXPORT void + zsys_notice (const char *format, ...); + +// Log informational message - low priority +CZMQ_EXPORT void + zsys_info (const char *format, ...); + +// Log debug-level message - lowest priority +CZMQ_EXPORT void + zsys_debug (const char *format, ...); + +// Self test of this class +CZMQ_EXPORT void + zsys_test (bool verbose); + +// Global signal indicator, TRUE when user presses Ctrl-C or the process +// gets a SIGTERM signal. +CZMQ_EXPORT extern volatile int zsys_interrupted; +// Deprecated name for this variable +CZMQ_EXPORT extern volatile int zctx_interrupted; +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/ztimerset.h b/phonelibs/zmq/x64/include/ztimerset.h new file mode 100644 index 000000000..29633fafd --- /dev/null +++ b/phonelibs/zmq/x64/include/ztimerset.h @@ -0,0 +1,90 @@ +/* ========================================================================= + ztimerset - timer set + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef ZTIMERSET_H_INCLUDED +#define ZTIMERSET_H_INCLUDED + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/ztimerset.api" to make changes. +// @interface +// This is a draft class, and may change without notice. It is disabled in +// stable builds by default. If you use this in applications, please ask +// for it to be pushed to stable state. Use --enable-drafts to enable. +#ifdef CZMQ_BUILD_DRAFT_API +// Callback function for timer event. +typedef void (ztimerset_fn) ( + int timer_id, void *arg); + +// *** Draft method, for development use, may change without warning *** +// Create new timer set. +CZMQ_EXPORT ztimerset_t * + ztimerset_new (void); + +// *** Draft method, for development use, may change without warning *** +// Destroy a timer set +CZMQ_EXPORT void + ztimerset_destroy (ztimerset_t **self_p); + +// *** Draft method, for development use, may change without warning *** +// Add a timer to the set. Returns timer id if OK, -1 on failure. +CZMQ_EXPORT int + ztimerset_add (ztimerset_t *self, size_t interval, ztimerset_fn handler, void *arg); + +// *** Draft method, for development use, may change without warning *** +// Cancel a timer. Returns 0 if OK, -1 on failure. +CZMQ_EXPORT int + ztimerset_cancel (ztimerset_t *self, int timer_id); + +// *** Draft method, for development use, may change without warning *** +// Set timer interval. Returns 0 if OK, -1 on failure. +// This method is slow, canceling the timer and adding a new one yield better performance. +CZMQ_EXPORT int + ztimerset_set_interval (ztimerset_t *self, int timer_id, size_t interval); + +// *** Draft method, for development use, may change without warning *** +// Reset timer to start interval counting from current time. Returns 0 if OK, -1 on failure. +// This method is slow, canceling the timer and adding a new one yield better performance. +CZMQ_EXPORT int + ztimerset_reset (ztimerset_t *self, int timer_id); + +// *** Draft method, for development use, may change without warning *** +// Return the time until the next interval. +// Should be used as timeout parameter for the zpoller wait method. +// The timeout is in msec. +CZMQ_EXPORT int + ztimerset_timeout (ztimerset_t *self); + +// *** Draft method, for development use, may change without warning *** +// Invoke callback function of all timers which their interval has elapsed. +// Should be call after zpoller wait method. +// Returns 0 if OK, -1 on failure. +CZMQ_EXPORT int + ztimerset_execute (ztimerset_t *self); + +// *** Draft method, for development use, may change without warning *** +// Self test of this class. +CZMQ_EXPORT void + ztimerset_test (bool verbose); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/ztrie.h b/phonelibs/zmq/x64/include/ztrie.h new file mode 100644 index 000000000..6fd53234b --- /dev/null +++ b/phonelibs/zmq/x64/include/ztrie.h @@ -0,0 +1,106 @@ +/* ========================================================================= + ztrie - simple trie for tokenizable strings + + Copyright (c) 1991-2012 iMatix Corporation -- http://www.imatix.com + Copyright other contributors as noted in the AUTHORS file. + + This file is part of CZMQ, the high-level C binding for 0MQ: http://czmq.zeromq.org + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef ZTRIE_H_INCLUDED +#define ZTRIE_H_INCLUDED + +#ifdef __cplusplus +extern "C" { +#endif + + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/ztrie.api" to make changes. +// @interface +// This is a draft class, and may change without notice. It is disabled in +// stable builds by default. If you use this in applications, please ask +// for it to be pushed to stable state. Use --enable-drafts to enable. +#ifdef CZMQ_BUILD_DRAFT_API +// Callback function for ztrie_node to destroy node data. +typedef void (ztrie_destroy_data_fn) ( + void **data); + +// *** Draft method, for development use, may change without warning *** +// Creates a new ztrie. +CZMQ_EXPORT ztrie_t * + ztrie_new (char delimiter); + +// *** Draft method, for development use, may change without warning *** +// Destroy the ztrie. +CZMQ_EXPORT void + ztrie_destroy (ztrie_t **self_p); + +// *** Draft method, for development use, may change without warning *** +// Inserts a new route into the tree and attaches the data. Returns -1 +// if the route already exists, otherwise 0. This method takes ownership of +// the provided data if a destroy_data_fn is provided. +CZMQ_EXPORT int + ztrie_insert_route (ztrie_t *self, const char *path, void *data, ztrie_destroy_data_fn destroy_data_fn); + +// *** Draft method, for development use, may change without warning *** +// Removes a route from the trie and destroys its data. Returns -1 if the +// route does not exists, otherwise 0. +// the start of the list call zlist_first (). Advances the cursor. +CZMQ_EXPORT int + ztrie_remove_route (ztrie_t *self, const char *path); + +// *** Draft method, for development use, may change without warning *** +// Returns true if the path matches a route in the tree, otherwise false. +CZMQ_EXPORT bool + ztrie_matches (ztrie_t *self, const char *path); + +// *** Draft method, for development use, may change without warning *** +// Returns the data of a matched route from last ztrie_matches. If the path +// did not match, returns NULL. Do not delete the data as it's owned by +// ztrie. +CZMQ_EXPORT void * + ztrie_hit_data (ztrie_t *self); + +// *** Draft method, for development use, may change without warning *** +// Returns the count of parameters that a matched route has. +CZMQ_EXPORT size_t + ztrie_hit_parameter_count (ztrie_t *self); + +// *** Draft method, for development use, may change without warning *** +// Returns the parameters of a matched route with named regexes from last +// ztrie_matches. If the path did not match or the route did not contain any +// named regexes, returns NULL. +CZMQ_EXPORT zhashx_t * + ztrie_hit_parameters (ztrie_t *self); + +// *** Draft method, for development use, may change without warning *** +// Returns the asterisk matched part of a route, if there has been no match +// or no asterisk match, returns NULL. +CZMQ_EXPORT const char * + ztrie_hit_asterisk_match (ztrie_t *self); + +// *** Draft method, for development use, may change without warning *** +// Print the trie +CZMQ_EXPORT void + ztrie_print (ztrie_t *self); + +// *** Draft method, for development use, may change without warning *** +// Self test of this class. +CZMQ_EXPORT void + ztrie_test (bool verbose); + +#endif // CZMQ_BUILD_DRAFT_API +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/include/zuuid.h b/phonelibs/zmq/x64/include/zuuid.h new file mode 100644 index 000000000..afc1104fe --- /dev/null +++ b/phonelibs/zmq/x64/include/zuuid.h @@ -0,0 +1,96 @@ +/* ========================================================================= + zuuid - UUID support class + + Copyright (c) the Contributors as noted in the AUTHORS file. + This file is part of CZMQ, the high-level C binding for 0MQ: + http://czmq.zeromq.org. + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + ========================================================================= +*/ + +#ifndef __ZUUID_H_INCLUDED__ +#define __ZUUID_H_INCLUDED__ + +#define ZUUID_LEN 16 +#define ZUUID_STR_LEN (ZUUID_LEN * 2) + +#ifdef __cplusplus +extern "C" { +#endif + +// @warning THE FOLLOWING @INTERFACE BLOCK IS AUTO-GENERATED BY ZPROJECT +// @warning Please edit the model at "api/zuuid.api" to make changes. +// @interface +// This is a stable class, and may not change except for emergencies. It +// is provided in stable builds. +// Create a new UUID object. +CZMQ_EXPORT zuuid_t * + zuuid_new (void); + +// Create UUID object from supplied ZUUID_LEN-octet value. +CZMQ_EXPORT zuuid_t * + zuuid_new_from (const byte *source); + +// Destroy a specified UUID object. +CZMQ_EXPORT void + zuuid_destroy (zuuid_t **self_p); + +// Set UUID to new supplied ZUUID_LEN-octet value. +CZMQ_EXPORT void + zuuid_set (zuuid_t *self, const byte *source); + +// Set UUID to new supplied string value skipping '-' and '{' '}' +// optional delimiters. Return 0 if OK, else returns -1. +CZMQ_EXPORT int + zuuid_set_str (zuuid_t *self, const char *source); + +// Return UUID binary data. +CZMQ_EXPORT const byte * + zuuid_data (zuuid_t *self); + +// Return UUID binary size +CZMQ_EXPORT size_t + zuuid_size (zuuid_t *self); + +// Returns UUID as string +CZMQ_EXPORT const char * + zuuid_str (zuuid_t *self); + +// Return UUID in the canonical string format: 8-4-4-4-12, in lower +// case. Caller does not modify or free returned value. See +// http://en.wikipedia.org/wiki/Universally_unique_identifier +CZMQ_EXPORT const char * + zuuid_str_canonical (zuuid_t *self); + +// Store UUID blob in target array +CZMQ_EXPORT void + zuuid_export (zuuid_t *self, byte *target); + +// Check if UUID is same as supplied value +CZMQ_EXPORT bool + zuuid_eq (zuuid_t *self, const byte *compare); + +// Check if UUID is different from supplied value +CZMQ_EXPORT bool + zuuid_neq (zuuid_t *self, const byte *compare); + +// Make copy of UUID object; if uuid is null, or memory was exhausted, +// returns null. +CZMQ_EXPORT zuuid_t * + zuuid_dup (zuuid_t *self); + +// Self test of this class. +CZMQ_EXPORT void + zuuid_test (bool verbose); + +// @end + + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/phonelibs/zmq/x64/lib/libczmq.a b/phonelibs/zmq/x64/lib/libczmq.a new file mode 100644 index 000000000..9045eb980 Binary files /dev/null and b/phonelibs/zmq/x64/lib/libczmq.a differ diff --git a/phonelibs/zmq/x64/lib/libczmq.la b/phonelibs/zmq/x64/lib/libczmq.la new file mode 100755 index 000000000..8e4a9ee36 --- /dev/null +++ b/phonelibs/zmq/x64/lib/libczmq.la @@ -0,0 +1,41 @@ +# libczmq.la - a libtool library file +# Generated by libtool (GNU libtool) 2.4.2 Debian-2.4.2-1ubuntu1 +# +# Please DO NOT delete this file! +# It is necessary for linking the library. + +# The name that we can dlopen(3). +dlname='libczmq.so.4' + +# Names of this library. +library_names='libczmq.so.4.0.2 libczmq.so.4 libczmq.so' + +# The name of the static archive. +old_library='libczmq.a' + +# Linker flags that can not go in dependency_libs. +inherited_linker_flags=' -pthread' + +# Libraries that this one depends upon. +dependency_libs=' -L/home/batman/one/external/zmq/lib -L/usr/local/lib /home/batman/one/external/zmq/lib/libzmq.la -lrt -lpthread -ldl' + +# Names of additional weak libraries provided by this library +weak_library_names='' + +# Version information for libczmq. +current=4 +age=0 +revision=2 + +# Is this an already installed library? +installed=yes + +# Should we warn about portability when linking against -modules? +shouldnotlink=no + +# Files to dlopen/dlpreopen +dlopen='' +dlpreopen='' + +# Directory that this library needs to be installed in: +libdir='/home/batman/one/external/zmq/lib' diff --git a/phonelibs/zmq/x64/lib/libczmq.so b/phonelibs/zmq/x64/lib/libczmq.so new file mode 120000 index 000000000..db9aa60f9 --- /dev/null +++ b/phonelibs/zmq/x64/lib/libczmq.so @@ -0,0 +1 @@ +libczmq.so.4.0.2 \ No newline at end of file diff --git a/phonelibs/zmq/x64/lib/libczmq.so.4 b/phonelibs/zmq/x64/lib/libczmq.so.4 new file mode 120000 index 000000000..db9aa60f9 --- /dev/null +++ b/phonelibs/zmq/x64/lib/libczmq.so.4 @@ -0,0 +1 @@ +libczmq.so.4.0.2 \ No newline at end of file diff --git a/phonelibs/zmq/x64/lib/libczmq.so.4.0.2 b/phonelibs/zmq/x64/lib/libczmq.so.4.0.2 new file mode 100755 index 000000000..eaf4cce8b Binary files /dev/null and b/phonelibs/zmq/x64/lib/libczmq.so.4.0.2 differ diff --git a/phonelibs/zmq/x64/lib/libzmq.a b/phonelibs/zmq/x64/lib/libzmq.a new file mode 100644 index 000000000..28c77cc36 Binary files /dev/null and b/phonelibs/zmq/x64/lib/libzmq.a differ diff --git a/phonelibs/zmq/x64/lib/libzmq.la b/phonelibs/zmq/x64/lib/libzmq.la new file mode 100644 index 000000000..69652b346 --- /dev/null +++ b/phonelibs/zmq/x64/lib/libzmq.la @@ -0,0 +1,41 @@ +# libzmq.la - a libtool library file +# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-0.1 +# +# Please DO NOT delete this file! +# It is necessary for linking the library. + +# The name that we can dlopen(3). +dlname='libzmq.so.5' + +# Names of this library. +library_names='libzmq.so.5.1.2 libzmq.so.5 libzmq.so' + +# The name of the static archive. +old_library='libzmq.a' + +# Linker flags that cannot go in dependency_libs. +inherited_linker_flags='' + +# Libraries that this one depends upon. +dependency_libs=' -lrt -lpthread -ldl' + +# Names of additional weak libraries provided by this library +weak_library_names='' + +# Version information for libzmq. +current=6 +age=1 +revision=2 + +# Is this an already installed library? +installed=yes + +# Should we warn about portability when linking against -modules? +shouldnotlink=no + +# Files to dlopen/dlpreopen +dlopen='' +dlpreopen='' + +# Directory that this library needs to be installed in: +libdir='/home/batman/one/external/zmq/lib' diff --git a/phonelibs/zmq/x64/lib/libzmq.lai b/phonelibs/zmq/x64/lib/libzmq.lai new file mode 100644 index 000000000..93c1a83dc --- /dev/null +++ b/phonelibs/zmq/x64/lib/libzmq.lai @@ -0,0 +1,41 @@ +# libzmq.la - a libtool library file +# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-0.1 +# +# Please DO NOT delete this file! +# It is necessary for linking the library. + +# The name that we can dlopen(3). +dlname='libzmq.so.5' + +# Names of this library. +library_names='libzmq.so.5.1.2 libzmq.so.5 libzmq.so' + +# The name of the static archive. +old_library='libzmq.a' + +# Linker flags that cannot go in dependency_libs. +inherited_linker_flags='' + +# Libraries that this one depends upon. +dependency_libs=' -lrt -lpthread -ldl' + +# Names of additional weak libraries provided by this library +weak_library_names='' + +# Version information for libzmq. +current=6 +age=1 +revision=2 + +# Is this an already installed library? +installed=yes + +# Should we warn about portability when linking against -modules? +shouldnotlink=no + +# Files to dlopen/dlpreopen +dlopen='' +dlpreopen='' + +# Directory that this library needs to be installed in: +libdir='/usr/local/lib' diff --git a/phonelibs/zmq/x64/lib/libzmq.so b/phonelibs/zmq/x64/lib/libzmq.so new file mode 120000 index 000000000..ef44cafc6 --- /dev/null +++ b/phonelibs/zmq/x64/lib/libzmq.so @@ -0,0 +1 @@ +libzmq.so.5.1.2 \ No newline at end of file diff --git a/phonelibs/zmq/x64/lib/libzmq.so.5 b/phonelibs/zmq/x64/lib/libzmq.so.5 new file mode 120000 index 000000000..ef44cafc6 --- /dev/null +++ b/phonelibs/zmq/x64/lib/libzmq.so.5 @@ -0,0 +1 @@ +libzmq.so.5.1.2 \ No newline at end of file diff --git a/phonelibs/zmq/x64/lib/libzmq.so.5.1.2 b/phonelibs/zmq/x64/lib/libzmq.so.5.1.2 new file mode 100755 index 000000000..e08e8c2df Binary files /dev/null and b/phonelibs/zmq/x64/lib/libzmq.so.5.1.2 differ diff --git a/phonelibs/zmq/x64/lib/pkgconfig/libczmq.pc b/phonelibs/zmq/x64/lib/pkgconfig/libczmq.pc new file mode 100644 index 000000000..b6fb3dc13 --- /dev/null +++ b/phonelibs/zmq/x64/lib/pkgconfig/libczmq.pc @@ -0,0 +1,24 @@ +################################################################################ +# THIS FILE IS 100% GENERATED BY ZPROJECT; DO NOT EDIT EXCEPT EXPERIMENTALLY # +# Read the zproject/README.md for information about making permanent changes. # +################################################################################ + +prefix=/home/batman/one/external/zmq +exec_prefix=${prefix} +libdir=${exec_prefix}/lib +includedir=${prefix}/include + +Name: libczmq +Description: The high-level C binding for 0MQ +Version: 4.0.2 + +Requires:libzmq + +Libs: -L${libdir} -lczmq +Cflags: -I${includedir} +Libs.private: -L/usr/local/lib -lzmq + +################################################################################ +# THIS FILE IS 100% GENERATED BY ZPROJECT; DO NOT EDIT EXCEPT EXPERIMENTALLY # +# Read the zproject/README.md for information about making permanent changes. # +################################################################################ diff --git a/phonelibs/zmq/x64/lib/pkgconfig/libzmq.pc b/phonelibs/zmq/x64/lib/pkgconfig/libzmq.pc new file mode 100644 index 000000000..aba3d3a75 --- /dev/null +++ b/phonelibs/zmq/x64/lib/pkgconfig/libzmq.pc @@ -0,0 +1,10 @@ +prefix=/home/batman/one/external/zmq +exec_prefix=${prefix} +libdir=${exec_prefix}/lib +includedir=${prefix}/include + +Name: libzmq +Description: 0MQ c++ library +Version: 4.2.2 +Libs: -L${libdir} -lzmq +Cflags: -I${includedir} diff --git a/run_docker_tests.sh b/run_docker_tests.sh index a153aac73..dc629e613 100755 --- a/run_docker_tests.sh +++ b/run_docker_tests.sh @@ -3,6 +3,12 @@ set -e docker build -t tmppilot -f Dockerfile.openpilot . +docker run --rm \ + tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py' +docker run --rm \ + tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")' +docker run --rm \ + tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))' docker run --rm \ -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out \ tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py' diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 501806969..2671672c5 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -6,9 +6,11 @@ import time import threading import traceback import zmq +import requests import six.moves.queue from jsonrpc import JSONRPCResponseManager, dispatcher from websocket import create_connection, WebSocketTimeoutException +from selfdrive.loggerd.config import ROOT import selfdrive.crash as crash import selfdrive.messaging as messaging @@ -71,6 +73,19 @@ def getMessage(service=None, timeout=1000): ret = messaging.recv_one(socket) return ret.to_dict() +@dispatcher.add_method +def listDataDirectory(): + files = [os.path.relpath(os.path.join(dp, f), ROOT) for dp, dn, fn in os.walk(ROOT) for f in fn] + return files + +@dispatcher.add_method +def uploadFileToUrl(fn, url, headers): + if len(fn) == 0 or fn[0] == '/' or '..' in fn: + return 500 + with open(os.path.join(ROOT, fn), "rb") as f: + ret = requests.put(url, data=f, headers=headers, timeout=10) + return ret.status_code + def ws_recv(ws, end_event): while not end_event.is_set(): try: diff --git a/selfdrive/boardd/Makefile b/selfdrive/boardd/Makefile index 893edde54..7dfbb225c 100644 --- a/selfdrive/boardd/Makefile +++ b/selfdrive/boardd/Makefile @@ -46,6 +46,7 @@ all: boardd include ../common/cereal.mk OBJS = boardd.o \ + can_list_to_can_capnp.o \ ../common/swaglog.o \ ../common/params.o \ ../common/util.o \ @@ -72,6 +73,15 @@ boardd.o: boardd.cc -I../../ \ -c -o '$@' '$<' + +boardd_api_impl.so: libcan_list_to_can_capnp.a boardd_api_impl.pyx boardd_setup.py + python boardd_setup.py build_ext --inplace + rm -rf build + rm -f boardd_api_impl.cpp + +libcan_list_to_can_capnp.a: can_list_to_can_capnp.o $(CEREAL_OBJS) + ar rcs '$@' $^ + %.o: %.c @echo "[ CC ] $@" $(CC) $(CFLAGS) -MMD \ @@ -81,8 +91,16 @@ boardd.o: boardd.cc $(JSON_FLAGS) \ -c -o '$@' '$<' +%.o: %.cc + @echo "[ CC ] $@" + $(CXX) $(CXXFLAGS) -MMD \ + -Iinclude -I.. -I../.. \ + $(CEREAL_CXXFLAGS) \ + $(ZMQ_FLAGS) \ + -c -o '$@' '$<' + .PHONY: clean clean: - rm -f boardd $(OBJS) $(DEPS) + rm -f boardd libcan_list_to_can_capnp.a boardd_api_impl.so $(OBJS) $(DEPS) -include $(DEPS) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index dd89d4d6d..3b293307a 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -85,6 +85,7 @@ void *safety_setter_thread(void *s) { // format for board, make copy due to alignment issues, will be freed on out of scope auto amsg = kj::heapArray((value_sz / sizeof(capnp::word)) + 1); memcpy(amsg.begin(), value, value_sz); + free(value); capnp::FlatArrayMessageReader cmsg(amsg); cereal::CarParams::Reader car_params = cmsg.getRoot(); diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py old mode 100755 new mode 100644 index 2ebd2e9ff..d3bcb1471 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/boardd/boardd.py @@ -1,49 +1,13 @@ -#!/usr/bin/env python - -# This file is not used by OpenPilot. Only boardd.cc is used. -# The python version is slower, but has more options for development. - -# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and -# delete this python version of boardd - +# pylint: skip-file import os -import struct -import zmq -import time +import subprocess -import selfdrive.messaging as messaging -from common.realtime import Ratekeeper -from selfdrive.services import service_list -from selfdrive.swaglog import cloudlog +# Cython +boardd_api_dir = os.path.dirname(os.path.abspath(__file__)) +subprocess.check_call(["make", "boardd_api_impl.so"], cwd=boardd_api_dir) +from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +assert can_list_to_can_capnp -# USB is optional -try: - import usb1 - from usb1 import USBErrorIO, USBErrorOverflow #pylint: disable=no-name-in-module -except Exception: - pass - -SAFETY_NOOUTPUT = 0 -SAFETY_HONDA = 1 -SAFETY_TOYOTA = 2 -SAFETY_CHRYSLER = 9 -SAFETY_TOYOTA_NOLIMITS = 0x1336 -SAFETY_ALLOUTPUT = 0x1337 - -# *** serialization functions *** -def can_list_to_can_capnp(can_msgs, msgtype='can'): - dat = messaging.new_message() - dat.init(msgtype, len(can_msgs)) - for i, can_msg in enumerate(can_msgs): - if msgtype == 'sendcan': - cc = dat.sendcan[i] - else: - cc = dat.can[i] - cc.address = can_msg[0] - cc.busTime = can_msg[1] - cc.dat = str(can_msg[2]) - cc.src = can_msg[3] - return dat def can_capnp_to_can_list(can, src_filter=None): ret = [] @@ -51,199 +15,3 @@ def can_capnp_to_can_list(can, src_filter=None): if src_filter is None or msg.src in src_filter: ret.append((msg.address, msg.busTime, msg.dat, msg.src)) return ret - -# *** can driver *** -def can_health(): - while 1: - try: - dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x10) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD HEALTH, RETRYING") - v, i, started = struct.unpack("IIB", dat[0:9]) - # TODO: units - return {"voltage": v, "current": i, "started": bool(started)} - -def __parse_can_buffer(dat): - ret = [] - for j in range(0, len(dat), 0x10): - ddat = dat[j:j+0x10] - f1, f2 = struct.unpack("II", ddat[0:8]) - ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xF)) - return ret - -def can_send_many(arr): - snds = [] - for addr, _, dat, alt in arr: - if addr < 0x800: # only support 11 bit addr - snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat - snd = snd.ljust(0x10, '\x00') - snds.append(snd) - while 1: - try: - handle.bulkWrite(3, ''.join(snds)) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD SEND MANY, RETRYING") - -def can_recv(): - dat = "" - while 1: - try: - dat = handle.bulkRead(1, 0x10*256) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD RECV, RETRYING") - return __parse_can_buffer(dat) - -def can_init(): - global handle, context - handle = None - cloudlog.info("attempting can init") - - context = usb1.USBContext() - #context.setDebug(9) - - for device in context.getDeviceList(skip_on_error=True): - if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc: - handle = device.open() - handle.claimInterface(0) - handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'') - - if handle is None: - cloudlog.warn("CAN NOT FOUND") - exit(-1) - - cloudlog.info("got handle") - cloudlog.info("can init done") - -def boardd_mock_loop(): - context = zmq.Context() - can_init() - handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'') - - logcan = messaging.sub_sock(context, service_list['can'].port) - sendcan = messaging.pub_sock(context, service_list['sendcan'].port) - - while 1: - tsc = messaging.drain_sock(logcan, wait_for_one=True) - snds = [can_capnp_to_can_list(x.can) for x in tsc] - snds = [x for x in snds if x[-1] <= 1] - can_send_many(snds) - - # recv @ 100hz - can_msgs = can_recv() - print("sent %d got %d" % (len(snds), len(can_msgs))) - m = can_list_to_can_capnp(can_msgs) - sendcan.send(m.to_bytes()) - -def boardd_test_loop(): - can_init() - cnt = 0 - while 1: - can_send_many([[0xbb,0,"\xaa\xaa\xaa\xaa",0], [0xaa,0,"\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt),1]]) - #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]]) - #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]]) - # recv @ 100hz - can_msgs = can_recv() - print("got %d" % (len(can_msgs))) - time.sleep(0.01) - cnt += 1 - -# *** main loop *** -def boardd_loop(rate=200): - rk = Ratekeeper(rate) - context = zmq.Context() - - can_init() - - # *** publishes can and health - logcan = messaging.pub_sock(context, service_list['can'].port) - health_sock = messaging.pub_sock(context, service_list['health'].port) - - # *** subscribes to can send - sendcan = messaging.sub_sock(context, service_list['sendcan'].port) - - # drain sendcan to delete any stale messages from previous runs - messaging.drain_sock(sendcan) - - while 1: - # health packet @ 1hz - if (rk.frame%rate) == 0: - health = can_health() - msg = messaging.new_message() - msg.init('health') - - # store the health to be logged - msg.health.voltage = health['voltage'] - msg.health.current = health['current'] - msg.health.started = health['started'] - msg.health.controlsAllowed = True - - health_sock.send(msg.to_bytes()) - - # recv @ 100hz - can_msgs = can_recv() - - # publish to logger - # TODO: refactor for speed - if len(can_msgs) > 0: - dat = can_list_to_can_capnp(can_msgs) - logcan.send(dat.to_bytes()) - - # send can if we have a packet - tsc = messaging.recv_sock(sendcan) - if tsc is not None: - can_send_many(can_capnp_to_can_list(tsc.sendcan)) - - rk.keep_time() - -# *** main loop *** -def boardd_proxy_loop(rate=200, address="192.168.2.251"): - rk = Ratekeeper(rate) - context = zmq.Context() - - can_init() - - # *** subscribes can - logcan = messaging.sub_sock(context, service_list['can'].port, addr=address) - # *** publishes to can send - sendcan = messaging.pub_sock(context, service_list['sendcan'].port) - - # drain sendcan to delete any stale messages from previous runs - messaging.drain_sock(sendcan) - - while 1: - # recv @ 100hz - can_msgs = can_recv() - #for m in can_msgs: - # print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) - - # publish to logger - # TODO: refactor for speed - if len(can_msgs) > 0: - dat = can_list_to_can_capnp(can_msgs, "sendcan") - sendcan.send(dat.to_bytes()) - - # send can if we have a packet - tsc = messaging.recv_sock(logcan) - if tsc is not None: - cl = can_capnp_to_can_list(tsc.can) - #for m in cl: - # print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) - can_send_many(cl) - - rk.keep_time() - -def main(gctx=None): - if os.getenv("MOCK") is not None: - boardd_mock_loop() - elif os.getenv("PROXY") is not None: - boardd_proxy_loop() - elif os.getenv("BOARDTEST") is not None: - boardd_test_loop() - else: - boardd_loop() - -if __name__ == "__main__": - main() diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx new file mode 100644 index 000000000..75aa1081c --- /dev/null +++ b/selfdrive/boardd/boardd_api_impl.pyx @@ -0,0 +1,25 @@ +# distutils: language = c++ +from libcpp.vector cimport vector +from libcpp.string cimport string +from libcpp cimport bool + +cdef struct can_frame: + long address + string dat + long busTime + long src + +cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan) + +def can_list_to_can_capnp(can_msgs, msgtype='can'): + cdef vector[can_frame] can_list + cdef can_frame f + for can_msg in can_msgs: + f.address = can_msg[0] + f.busTime = can_msg[1] + f.dat = can_msg[2] + f.src = can_msg[3] + can_list.push_back(f) + cdef string out + can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan') + return out diff --git a/selfdrive/boardd/boardd_setup.py b/selfdrive/boardd/boardd_setup.py new file mode 100644 index 000000000..f614a0616 --- /dev/null +++ b/selfdrive/boardd/boardd_setup.py @@ -0,0 +1,25 @@ +import subprocess +from distutils.core import setup, Extension +from Cython.Build import cythonize + +PHONELIBS = '../../phonelibs' + +ARCH = subprocess.check_output(["uname", "-m"]).rstrip() +ARCH_DIR = 'x64' if ARCH == "x86_64" else 'aarch64' + +setup(name='Boardd API Implementation', + ext_modules=cythonize( + Extension( + "boardd_api_impl", + libraries=[':libcan_list_to_can_capnp.a', ':libcapnp.a', ':libcapnp.a', ':libkj.a'], + library_dirs=[ + './', + PHONELIBS + '/capnp-cpp/' + ARCH_DIR + '/lib/', + PHONELIBS + '/capnp-c/' + ARCH_DIR + '/lib/' + ], + sources=['boardd_api_impl.pyx'], + language="c++", + extra_compile_args=["-std=c++11"], + ) + ) +) diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc new file mode 100644 index 000000000..626c1e2a9 --- /dev/null +++ b/selfdrive/boardd/can_list_to_can_capnp.cc @@ -0,0 +1,36 @@ +#include +#include +#include +#include "common/timing.h" +#include +#include "cereal/gen/cpp/log.capnp.h" +#include "cereal/gen/cpp/car.capnp.h" + +typedef struct { + long address; + std::string dat; + long busTime; + long src; +} can_frame; + +extern "C" { + +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan) { + capnp::MallocMessageBuilder msg; + cereal::Event::Builder event = msg.initRoot(); + event.setLogMonoTime(nanos_since_boot()); + + auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); + int i = 0; + for (auto it = can_list.begin(); it != can_list.end(); it++, i++) { + canData[i].setAddress(it->address); + canData[i].setBusTime(it->busTime); + canData[i].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); + canData[i].setSrc(it->src); + } + auto words = capnp::messageToFlatArray(msg); + auto bytes = words.asBytes(); + out.append((const char *)bytes.begin(), bytes.size()); +} + +} diff --git a/selfdrive/boardd/tests/__init__.py b/selfdrive/boardd/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py new file mode 100755 index 000000000..9ce5f7f3e --- /dev/null +++ b/selfdrive/boardd/tests/boardd_old.py @@ -0,0 +1,247 @@ +#!/usr/bin/env python + +# This file is not used by OpenPilot. Only boardd.cc is used. +# The python version is slower, but has more options for development. + +# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and +# delete this python version of boardd + +import os +import struct +import zmq +import time + +import selfdrive.messaging as messaging +from common.realtime import Ratekeeper +from selfdrive.services import service_list +from selfdrive.swaglog import cloudlog +from selfdrive.boardd.boardd import can_capnp_to_can_list + +# USB is optional +try: + import usb1 + from usb1 import USBErrorIO, USBErrorOverflow #pylint: disable=no-name-in-module +except Exception: + pass + +SAFETY_NOOUTPUT = 0 +SAFETY_HONDA = 1 +SAFETY_TOYOTA = 2 +SAFETY_CHRYSLER = 9 +SAFETY_TOYOTA_NOLIMITS = 0x1336 +SAFETY_ALLOUTPUT = 0x1337 + +# *** serialization functions *** +def can_list_to_can_capnp(can_msgs, msgtype='can'): + dat = messaging.new_message() + dat.init(msgtype, len(can_msgs)) + for i, can_msg in enumerate(can_msgs): + if msgtype == 'sendcan': + cc = dat.sendcan[i] + else: + cc = dat.can[i] + cc.address = can_msg[0] + cc.busTime = can_msg[1] + cc.dat = str(can_msg[2]) + cc.src = can_msg[3] + return dat + + +# *** can driver *** +def can_health(): + while 1: + try: + dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x10) + break + except (USBErrorIO, USBErrorOverflow): + cloudlog.exception("CAN: BAD HEALTH, RETRYING") + v, i, started = struct.unpack("IIB", dat[0:9]) + # TODO: units + return {"voltage": v, "current": i, "started": bool(started)} + +def __parse_can_buffer(dat): + ret = [] + for j in range(0, len(dat), 0x10): + ddat = dat[j:j+0x10] + f1, f2 = struct.unpack("II", ddat[0:8]) + ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xFF)) + return ret + +def can_send_many(arr): + snds = [] + for addr, _, dat, alt in arr: + if addr < 0x800: # only support 11 bit addr + snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat + snd = snd.ljust(0x10, '\x00') + snds.append(snd) + while 1: + try: + handle.bulkWrite(3, ''.join(snds)) + break + except (USBErrorIO, USBErrorOverflow): + cloudlog.exception("CAN: BAD SEND MANY, RETRYING") + +def can_recv(): + dat = "" + while 1: + try: + dat = handle.bulkRead(1, 0x10*256) + break + except (USBErrorIO, USBErrorOverflow): + cloudlog.exception("CAN: BAD RECV, RETRYING") + return __parse_can_buffer(dat) + +def can_init(): + global handle, context + handle = None + cloudlog.info("attempting can init") + + context = usb1.USBContext() + #context.setDebug(9) + + for device in context.getDeviceList(skip_on_error=True): + if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc: + handle = device.open() + handle.claimInterface(0) + handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'') + + if handle is None: + cloudlog.warn("CAN NOT FOUND") + exit(-1) + + cloudlog.info("got handle") + cloudlog.info("can init done") + +def boardd_mock_loop(): + context = zmq.Context() + can_init() + handle.controlWrite(0x40, 0xdc, SAFETY_ALLOUTPUT, 0, b'') + + logcan = messaging.sub_sock(context, service_list['can'].port) + sendcan = messaging.pub_sock(context, service_list['sendcan'].port) + + while 1: + tsc = messaging.drain_sock(logcan, wait_for_one=True) + snds = map(lambda x: can_capnp_to_can_list(x.can), tsc) + snd = [] + for s in snds: + snd += s + snd = filter(lambda x: x[-1] <= 1, snd) + can_send_many(snd) + + # recv @ 100hz + can_msgs = can_recv() + print("sent %d got %d" % (len(snd), len(can_msgs))) + m = can_list_to_can_capnp(can_msgs, msgtype='sendcan') + sendcan.send(m.to_bytes()) + +def boardd_test_loop(): + can_init() + cnt = 0 + while 1: + can_send_many([[0xbb,0,"\xaa\xaa\xaa\xaa",0], [0xaa,0,"\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt),1]]) + #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]]) + #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]]) + # recv @ 100hz + can_msgs = can_recv() + print("got %d" % (len(can_msgs))) + time.sleep(0.01) + cnt += 1 + +# *** main loop *** +def boardd_loop(rate=200): + rk = Ratekeeper(rate) + context = zmq.Context() + + can_init() + + # *** publishes can and health + logcan = messaging.pub_sock(context, service_list['can'].port) + health_sock = messaging.pub_sock(context, service_list['health'].port) + + # *** subscribes to can send + sendcan = messaging.sub_sock(context, service_list['sendcan'].port) + + # drain sendcan to delete any stale messages from previous runs + messaging.drain_sock(sendcan) + + while 1: + # health packet @ 1hz + if (rk.frame%rate) == 0: + health = can_health() + msg = messaging.new_message() + msg.init('health') + + # store the health to be logged + msg.health.voltage = health['voltage'] + msg.health.current = health['current'] + msg.health.started = health['started'] + msg.health.controlsAllowed = True + + health_sock.send(msg.to_bytes()) + + # recv @ 100hz + can_msgs = can_recv() + + # publish to logger + # TODO: refactor for speed + if len(can_msgs) > 0: + dat = can_list_to_can_capnp(can_msgs).to_bytes() + logcan.send(dat) + + # send can if we have a packet + tsc = messaging.recv_sock(sendcan) + if tsc is not None: + can_send_many(can_capnp_to_can_list(tsc.sendcan)) + + rk.keep_time() + +# *** main loop *** +def boardd_proxy_loop(rate=200, address="192.168.2.251"): + rk = Ratekeeper(rate) + context = zmq.Context() + + can_init() + + # *** subscribes can + logcan = messaging.sub_sock(context, service_list['can'].port, addr=address) + # *** publishes to can send + sendcan = messaging.pub_sock(context, service_list['sendcan'].port) + + # drain sendcan to delete any stale messages from previous runs + messaging.drain_sock(sendcan) + + while 1: + # recv @ 100hz + can_msgs = can_recv() + #for m in can_msgs: + # print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) + + # publish to logger + # TODO: refactor for speed + if len(can_msgs) > 0: + dat = can_list_to_can_capnp(can_msgs, "sendcan") + sendcan.send(dat) + + # send can if we have a packet + tsc = messaging.recv_sock(logcan) + if tsc is not None: + cl = can_capnp_to_can_list(tsc.can) + #for m in cl: + # print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) + can_send_many(cl) + + rk.keep_time() + +def main(gctx=None): + if os.getenv("MOCK") is not None: + boardd_mock_loop() + elif os.getenv("PROXY") is not None: + boardd_proxy_loop() + elif os.getenv("BOARDTEST") is not None: + boardd_test_loop() + else: + boardd_loop() + +if __name__ == "__main__": + main() diff --git a/selfdrive/boardd/tests/fuzzer.py b/selfdrive/boardd/tests/fuzzer.py new file mode 100755 index 000000000..cb6edf710 --- /dev/null +++ b/selfdrive/boardd/tests/fuzzer.py @@ -0,0 +1,19 @@ +#!/usr/bin/env python +import time +import random + +from boardd_old import can_init, can_recv, can_send_many, can_health + +if __name__ == "__main__": + can_init() + while 1: + c = random.randint(0, 3) + if c == 0: + print can_recv() + elif c == 1: + print can_health() + elif c == 2: + many = [[0x123, 0, "abcdef", 0]] * random.randint(1, 10) + can_send_many(many) + elif c == 3: + time.sleep(random.randint(0, 100) / 1000.0) diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py new file mode 100644 index 000000000..0e862b095 --- /dev/null +++ b/selfdrive/boardd/tests/test_boardd_api.py @@ -0,0 +1,76 @@ +import random +import numpy as np + +import boardd_old +import selfdrive.boardd.boardd as boardd + +from common.realtime import sec_since_boot +from cereal import log +import unittest + + +def generate_random_can_data_list(): + can_list = [] + cnt = random.randint(1, 64) + for j in xrange(cnt): + can_data = np.random.bytes(random.randint(1, 8)) + can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)]) + return can_list, cnt + + +class TestBoarddApiMethods(unittest.TestCase): + def test_correctness(self): + for i in xrange(1000): + can_list, _ = generate_random_can_data_list() + + # Sendcan + # Old API + m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes() + # new API + m = boardd.can_list_to_can_capnp(can_list, 'sendcan') + + ev_old = log.Event.from_bytes(m_old) + ev = log.Event.from_bytes(m) + self.assertEqual(ev_old.which(), ev.which()) + self.assertEqual(len(ev.sendcan), len(ev_old.sendcan)) + for i in xrange(len(ev.sendcan)): + attrs = ['address', 'busTime', 'dat', 'src'] + for attr in attrs: + self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old')) + + # Can + m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes() + # new API + m = boardd.can_list_to_can_capnp(can_list, 'can') + + ev_old = log.Event.from_bytes(m_old) + ev = log.Event.from_bytes(m) + self.assertEqual(ev_old.which(), ev.which()) + self.assertEqual(len(ev.can), len(ev_old.can)) + for i in xrange(len(ev.can)): + attrs = ['address', 'busTime', 'dat', 'src'] + for attr in attrs: + self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old')) + + def test_performance(self): + can_list, cnt = generate_random_can_data_list() + recursions = 1000 + + n1 = sec_since_boot() + for i in xrange(recursions): + boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes() + n2 = sec_since_boot() + elapsed_old = n2 - n1 + + # print('Old API, elapsed time: {} secs'.format(elapsed_old)) + n1 = sec_since_boot() + for i in xrange(recursions): + boardd.can_list_to_can_capnp(can_list) + n2 = sec_since_boot() + elapsed_new = n2 - n1 + # print('New API, elapsed time: {} secs'.format(elapsed_new)) + self.assertTrue(elapsed_new < elapsed_old / 2) + + +if __name__ == '__main__': + unittest.main() diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py new file mode 100755 index 000000000..1b6f1b138 --- /dev/null +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python +"""Run boardd with the BOARDD_LOOPBACK envvar before running this test.""" + +import os +import random +import zmq +import time + +from selfdrive.boardd.boardd import can_list_to_can_capnp +from selfdrive.messaging import drain_sock, pub_sock, sub_sock +from selfdrive.services import service_list + +def get_test_string(): + return b"test"+os.urandom(10) + +BUS = 0 + +def main(): + context = zmq.Context() + + rcv = sub_sock(context, service_list['can'].port) # port 8006 + snd = pub_sock(context, service_list['sendcan'].port) # port 8017 + time.sleep(0.3) # wait to bind before send/recv + + for i in range(10): + print("Loop %d" % i) + at = random.randint(1024, 2000) + st = get_test_string()[0:8] + snd.send(can_list_to_can_capnp([[at, 0, st, 0]], msgtype='sendcan').to_bytes()) + time.sleep(0.1) + res = drain_sock(rcv, True) + assert len(res) == 1 + + res = res[0].can + assert len(res) == 2 + + msg0, msg1 = res + + assert msg0.dat == st + assert msg1.dat == st + + assert msg0.address == at + assert msg1.address == at + + assert msg0.src == 0x80 | BUS + assert msg1.src == BUS + + print("Success") + +if __name__ == "__main__": + main() diff --git a/selfdrive/can/Makefile b/selfdrive/can/Makefile index 1909a7bb9..918c44528 100644 --- a/selfdrive/can/Makefile +++ b/selfdrive/can/Makefile @@ -23,9 +23,8 @@ ifeq ($(UNAME_S),Darwin) else ifeq ($(OPTEST),1) ZMQ_LIBS = -lzmq else ifeq ($(UNAME_M),x86_64) - EXTERNAL := ../../external - ZMQ_FLAGS = -I$(EXTERNAL)/zmq/include - ZMQ_LIBS = -L$(EXTERNAL)/zmq/lib -l:libzmq.a + ZMQ_FLAGS = -I$(PHONELIBS)/zmq/x64/include + ZMQ_LIBS = -L$(PHONELIBS)/zmq/x64/lib -l:libzmq.a else ifeq ($(UNAME_M),aarch64) ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib -l:libzmq.a @@ -67,6 +66,11 @@ libdbc.so:: $(LIBDBC_OBJS) $(DBC_OBJS) $(CEREAL_CXXFLAGS) \ $(CEREAL_LIBS) +packer_impl.so: packer_impl.pyx packer_setup.py + python packer_setup.py build_ext --inplace + rm -rf build + rm -f packer_impl.cpp + $(OBJDIR)/%.o: %.cc @echo "[ CXX ] $@" $(CXX) -fPIC -c -o '$@' $^ \ diff --git a/selfdrive/can/packer.cc b/selfdrive/can/packer.cc index 17171f155..d0e841978 100644 --- a/selfdrive/can/packer.cc +++ b/selfdrive/can/packer.cc @@ -129,4 +129,8 @@ extern "C" { return cp->pack(address, std::vector(vals, vals+num_vals), counter); } + uint64_t canpack_pack_vector(void* inst, uint32_t address, const std::vector &signals, int counter) { + CANPacker *cp = (CANPacker*)inst; + return cp->pack(address, signals, counter); + } } diff --git a/selfdrive/can/packer.py b/selfdrive/can/packer.py index 7f3c8d285..81a8c3427 100644 --- a/selfdrive/can/packer.py +++ b/selfdrive/can/packer.py @@ -1,68 +1,9 @@ -import six -import struct -from selfdrive.can.libdbc_py import libdbc, ffi +# pylint: skip-file +import os +import subprocess +can_dir = os.path.dirname(os.path.abspath(__file__)) +subprocess.check_call(["make", "packer_impl.so"], cwd=can_dir) -class CANPacker(object): - def __init__(self, dbc_name): - self.packer = libdbc.canpack_init(dbc_name) - self.dbc = libdbc.dbc_lookup(dbc_name) - self.sig_names = {} - self.name_to_address_and_size = {} - - num_msgs = self.dbc[0].num_msgs - for i in range(num_msgs): - msg = self.dbc[0].msgs[i] - - name = ffi.string(msg.name) - address = msg.address - self.name_to_address_and_size[name] = (address, msg.size) - self.name_to_address_and_size[address] = (address, msg.size) - - def pack(self, addr, values, counter): - values_thing = [] - for name, value in six.iteritems(values): - if name not in self.sig_names: - self.sig_names[name] = ffi.new("char[]", name) - - values_thing.append({ - 'name': self.sig_names[name], - 'value': value - }) - - values_c = ffi.new("SignalPackValue[]", values_thing) - - return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c, counter) - - def pack_bytes(self, addr, values, counter=-1): - addr, size = self.name_to_address_and_size[addr] - - val = self.pack(addr, values, counter) - r = struct.pack(">Q", val) - return addr, r[:size] - - def make_can_msg(self, addr, bus, values, counter=-1): - addr, msg = self.pack_bytes(addr, values, counter) - return [addr, 0, msg, bus] - - -if __name__ == "__main__": - ## little endian test - cp = CANPacker("hyundai_santa_fe_2019_ccan") - s = cp.pack_bytes(0x340, { - "CR_Lkas_StrToqReq": -0.06, - #"CF_Lkas_FcwBasReq": 1, - "CF_Lkas_MsgCount": 7, - "CF_Lkas_HbaSysState": 0, - #"CF_Lkas_Chksum": 3, - }) - s = cp.pack_bytes(0x340, { - "CF_Lkas_MsgCount": 1, - }) - # big endian test - #cp = CANPacker("honda_civic_touring_2016_can_generated") - #s = cp.pack_bytes(0xe4, { - # "STEER_TORQUE": -2, - #}) - print([hex(ord(v)) for v in s[1]]) - print(s[1].encode("hex")) +from selfdrive.can.packer_impl import CANPacker +assert CANPacker diff --git a/selfdrive/can/packer_impl.pyx b/selfdrive/can/packer_impl.pyx new file mode 100644 index 000000000..26ce8c126 --- /dev/null +++ b/selfdrive/can/packer_impl.pyx @@ -0,0 +1,111 @@ +# distutils: language = c++ +from libc.stdint cimport uint32_t, uint64_t +from libcpp.vector cimport vector +from libcpp.map cimport map +from libcpp.string cimport string +from libcpp cimport bool +from posix.dlfcn cimport dlopen, dlsym, RTLD_LAZY +import os +import subprocess + +cdef struct SignalPackValue: + const char* name + double value + +ctypedef enum SignalType: + DEFAULT, + HONDA_CHECKSUM, + HONDA_COUNTER, + TOYOTA_CHECKSUM, + PEDAL_CHECKSUM, + PEDAL_COUNTER + +cdef struct Signal: + const char* name + int b1, b2, bo + bool is_signed + double factor, offset + SignalType type + + + +cdef struct Msg: + const char* name + uint32_t address + unsigned int size + size_t num_sigs + const Signal *sigs + +cdef struct Val: + const char* name + uint32_t address + const char* def_val + const Signal *sigs + +cdef struct DBC: + const char* name + size_t num_msgs + const Msg *msgs + const Val *vals + size_t num_vals + +ctypedef void * (*canpack_init_func)(const char* dbc_name) +ctypedef uint64_t (*canpack_pack_vector_func)(void* inst, uint32_t address, const vector[SignalPackValue] &signals, int counter) +ctypedef const DBC * (*dbc_lookup_func)(const char* dbc_name) + + +cdef class CANPacker(object): + cdef void *packer + cdef const DBC *dbc + cdef map[string, (int, int)] name_to_address_and_size + cdef map[int, int] address_to_size + cdef canpack_init_func canpack_init + cdef canpack_pack_vector_func canpack_pack_vector + cdef dbc_lookup_func dbc_lookup + + def __init__(self, dbc_name): + can_dir = os.path.dirname(os.path.abspath(__file__)) + libdbc_fn = os.path.join(can_dir, "libdbc.so") + subprocess.check_call(["make"], cwd=can_dir) + cdef void *libdbc = dlopen(libdbc_fn, RTLD_LAZY) + self.canpack_init = dlsym(libdbc, 'canpack_init') + self.canpack_pack_vector = dlsym(libdbc, 'canpack_pack_vector') + self.dbc_lookup = dlsym(libdbc, 'dbc_lookup') + self.packer = self.canpack_init(dbc_name) + self.dbc = self.dbc_lookup(dbc_name) + num_msgs = self.dbc[0].num_msgs + for i in range(num_msgs): + msg = self.dbc[0].msgs[i] + self.name_to_address_and_size[string(msg.name)] = (msg.address, msg.size) + self.address_to_size[msg.address] = msg.size + + cdef uint64_t pack(self, addr, values, counter): + cdef vector[SignalPackValue] values_thing + cdef SignalPackValue spv + for name, value in values.iteritems(): + spv.name = name + spv.value = value + values_thing.push_back(spv) + + return self.canpack_pack_vector(self.packer, addr, values_thing, counter) + + cdef inline uint64_t ReverseBytes(self, uint64_t x): + return (((x & 0xff00000000000000ull) >> 56) | + ((x & 0x00ff000000000000ull) >> 40) | + ((x & 0x0000ff0000000000ull) >> 24) | + ((x & 0x000000ff00000000ull) >> 8) | + ((x & 0x00000000ff000000ull) << 8) | + ((x & 0x0000000000ff0000ull) << 24) | + ((x & 0x000000000000ff00ull) << 40) | + ((x & 0x00000000000000ffull) << 56)) + + cpdef make_can_msg(self, name_or_addr, bus, values, counter=-1): + cdef int addr, size + if type(name_or_addr) == int: + addr = name_or_addr + size = self.address_to_size[name_or_addr] + else: + addr, size = self.name_to_address_and_size[name_or_addr] + cdef uint64_t val = self.pack(addr, values, counter) + val = self.ReverseBytes(val) + return [addr, 0, (&val)[:size], bus] diff --git a/selfdrive/can/packer_setup.py b/selfdrive/can/packer_setup.py new file mode 100644 index 000000000..a36d4199e --- /dev/null +++ b/selfdrive/can/packer_setup.py @@ -0,0 +1,5 @@ +from distutils.core import setup, Extension +from Cython.Build import cythonize + +setup(name='CAN Packer API Implementation', + ext_modules=cythonize(Extension("packer_impl", ["packer_impl.pyx"], language="c++", extra_compile_args=["-std=c++11"]))) diff --git a/selfdrive/can/parser.py b/selfdrive/can/parser.py index 83d0f6623..2e8384f63 100644 --- a/selfdrive/can/parser.py +++ b/selfdrive/can/parser.py @@ -1,4 +1,3 @@ -import six import time from collections import defaultdict import numbers @@ -59,7 +58,7 @@ class CANParser(object): { 'address': msg_address, 'check_frequency': freq, - } for msg_address, freq in six.iteritems(message_options)]) + } for msg_address, freq in message_options.items()]) self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c, len(signal_options_c), signal_options_c, sendcan, tcp_addr) diff --git a/selfdrive/can/process_dbc.py b/selfdrive/can/process_dbc.py index 31b131596..3f3f2ddca 100755 --- a/selfdrive/can/process_dbc.py +++ b/selfdrive/can/process_dbc.py @@ -2,7 +2,7 @@ import os import glob import sys -import six + import jinja2 from collections import Counter @@ -39,10 +39,10 @@ def main(): continue #skip output is newer than template and dbc msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first - for address, ((msg_name, msg_size), msg_sigs) in sorted(six.iteritems(can_dbc.msgs)) if msg_sigs] + for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs] def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates - def_vals = [(address, sig) for address, sig in sorted(six.iteritems(def_vals))] + def_vals = [(address, sig) for address, sig in sorted(def_vals.items())] if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"): checksum_type = "honda" diff --git a/selfdrive/can/tests/__init__.py b/selfdrive/can/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/can/tests/packer_old.py b/selfdrive/can/tests/packer_old.py new file mode 100644 index 000000000..0c17c2e4d --- /dev/null +++ b/selfdrive/can/tests/packer_old.py @@ -0,0 +1,67 @@ +import struct +from selfdrive.can.libdbc_py import libdbc, ffi + + +class CANPacker(object): + def __init__(self, dbc_name): + self.packer = libdbc.canpack_init(dbc_name) + self.dbc = libdbc.dbc_lookup(dbc_name) + self.sig_names = {} + self.name_to_address_and_size = {} + + num_msgs = self.dbc[0].num_msgs + for i in range(num_msgs): + msg = self.dbc[0].msgs[i] + + name = ffi.string(msg.name) + address = msg.address + self.name_to_address_and_size[name] = (address, msg.size) + self.name_to_address_and_size[address] = (address, msg.size) + + def pack(self, addr, values, counter): + values_thing = [] + for name, value in values.iteritems(): + if name not in self.sig_names: + self.sig_names[name] = ffi.new("char[]", name) + + values_thing.append({ + 'name': self.sig_names[name], + 'value': value + }) + + values_c = ffi.new("SignalPackValue[]", values_thing) + + return libdbc.canpack_pack(self.packer, addr, len(values_thing), values_c, counter) + + def pack_bytes(self, addr, values, counter=-1): + addr, size = self.name_to_address_and_size[addr] + + val = self.pack(addr, values, counter) + r = struct.pack(">Q", val) + return addr, r[:size] + + def make_can_msg(self, addr, bus, values, counter=-1): + addr, msg = self.pack_bytes(addr, values, counter) + return [addr, 0, msg, bus] + + +if __name__ == "__main__": + ## little endian test + cp = CANPacker("hyundai_santa_fe_2019_ccan") + s = cp.pack_bytes(0x340, { + "CR_Lkas_StrToqReq": -0.06, + #"CF_Lkas_FcwBasReq": 1, + "CF_Lkas_MsgCount": 7, + "CF_Lkas_HbaSysState": 0, + #"CF_Lkas_Chksum": 3, + }) + s = cp.pack_bytes(0x340, { + "CF_Lkas_MsgCount": 1, + }) + # big endian test + #cp = CANPacker("honda_civic_touring_2016_can_generated") + #s = cp.pack_bytes(0xe4, { + # "STEER_TORQUE": -2, + #}) + print([hex(ord(v)) for v in s[1]]) + print(s[1].encode("hex")) diff --git a/selfdrive/can/tests/test_packer_chrysler.py b/selfdrive/can/tests/test_packer_chrysler.py new file mode 100644 index 000000000..da85a9841 --- /dev/null +++ b/selfdrive/can/tests/test_packer_chrysler.py @@ -0,0 +1,35 @@ +import unittest +import random + +from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld +from selfdrive.can.packer import CANPacker +import selfdrive.car.chrysler.chryslercan as chryslercan + + +class TestPackerMethods(unittest.TestCase): + def setUp(self): + self.chrysler_cp_old = CANPackerOld("chrysler_pacifica_2017_hybrid") + self.chrysler_cp = CANPacker("chrysler_pacifica_2017_hybrid") + + def test_correctness(self): + # Test all commands, randomize the params. + for _ in xrange(1000): + gear = ('drive', 'reverse', 'low')[random.randint(0, 3) % 3] + lkas_active = (random.randint(0, 2) % 2 == 0) + hud_alert = random.randint(0, 6) + hud_count = random.randint(0, 65536) + lkas_car_model = random.randint(0, 65536) + m_old = chryslercan.create_lkas_hud(self.chrysler_cp_old, gear, lkas_active, hud_alert, hud_count, lkas_car_model) + m = chryslercan.create_lkas_hud(self.chrysler_cp, gear, lkas_active, hud_alert, hud_count, lkas_car_model) + self.assertEqual(m_old, m) + + apply_steer = (random.randint(0, 2) % 2 == 0) + moving_fast = (random.randint(0, 2) % 2 == 0) + frame = random.randint(0, 65536) + m_old = chryslercan.create_lkas_command(self.chrysler_cp_old, apply_steer, moving_fast, frame) + m = chryslercan.create_lkas_command(self.chrysler_cp, apply_steer, moving_fast, frame) + self.assertEqual(m_old, m) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/can/tests/test_packer_gm.py b/selfdrive/can/tests/test_packer_gm.py new file mode 100644 index 000000000..db5631fbb --- /dev/null +++ b/selfdrive/can/tests/test_packer_gm.py @@ -0,0 +1,66 @@ +import unittest +import random + +from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld +from selfdrive.can.packer import CANPacker +import selfdrive.car.gm.gmcan as gmcan +from selfdrive.car.gm.interface import CanBus as GMCanBus + + +class TestPackerMethods(unittest.TestCase): + def setUp(self): + self.gm_cp_old = CANPackerOld("gm_global_a_powertrain") + self.gm_cp = CANPacker("gm_global_a_powertrain") + + self.ct6_cp_old = CANPackerOld("cadillac_ct6_chassis") + self.ct6_cp = CANPacker("cadillac_ct6_chassis") + + def test_correctness(self): + # Test all cars' commands, randomize the params. + for _ in xrange(1000): + bus = random.randint(0, 65536) + apply_steer = (random.randint(0, 2) % 2 == 0) + idx = random.randint(0, 65536) + lkas_active = (random.randint(0, 2) % 2 == 0) + m_old = gmcan.create_steering_control(self.gm_cp_old, bus, apply_steer, idx, lkas_active) + m = gmcan.create_steering_control(self.gm_cp, bus, apply_steer, idx, lkas_active) + self.assertEqual(m_old, m) + + canbus = GMCanBus() + apply_steer = (random.randint(0, 2) % 2 == 0) + v_ego = random.randint(0, 65536) + idx = random.randint(0, 65536) + enabled = (random.randint(0, 2) % 2 == 0) + m_old = gmcan.create_steering_control_ct6(self.ct6_cp_old, canbus, apply_steer, v_ego, idx, enabled) + m = gmcan.create_steering_control_ct6(self.ct6_cp, canbus, apply_steer, v_ego, idx, enabled) + self.assertEqual(m_old, m) + + bus = random.randint(0, 65536) + throttle = random.randint(0, 65536) + idx = random.randint(0, 65536) + acc_engaged = (random.randint(0, 2) % 2 == 0) + at_full_stop = (random.randint(0, 2) % 2 == 0) + m_old = gmcan.create_gas_regen_command(self.gm_cp_old, bus, throttle, idx, acc_engaged, at_full_stop) + m = gmcan.create_gas_regen_command(self.gm_cp, bus, throttle, idx, acc_engaged, at_full_stop) + self.assertEqual(m_old, m) + + bus = random.randint(0, 65536) + apply_brake = (random.randint(0, 2) % 2 == 0) + idx = random.randint(0, 65536) + near_stop = (random.randint(0, 2) % 2 == 0) + at_full_stop = (random.randint(0, 2) % 2 == 0) + m_old = gmcan.create_friction_brake_command(self.ct6_cp_old, bus, apply_brake, idx, near_stop, at_full_stop) + m = gmcan.create_friction_brake_command(self.ct6_cp, bus, apply_brake, idx, near_stop, at_full_stop) + self.assertEqual(m_old, m) + + bus = random.randint(0, 65536) + acc_engaged = (random.randint(0, 2) % 2 == 0) + target_speed_kph = random.randint(0, 65536) + lead_car_in_sight = (random.randint(0, 2) % 2 == 0) + m_old = gmcan.create_acc_dashboard_command(self.gm_cp_old, bus, acc_engaged, target_speed_kph, lead_car_in_sight) + m = gmcan.create_acc_dashboard_command(self.gm_cp, bus, acc_engaged, target_speed_kph, lead_car_in_sight) + self.assertEqual(m_old, m) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/can/tests/test_packer_honda.py b/selfdrive/can/tests/test_packer_honda.py new file mode 100644 index 000000000..58b841f5a --- /dev/null +++ b/selfdrive/can/tests/test_packer_honda.py @@ -0,0 +1,56 @@ +import unittest +import random + +from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld +from selfdrive.can.packer import CANPacker +import selfdrive.car.honda.hondacan as hondacan +from selfdrive.car.honda.values import HONDA_BOSCH +from selfdrive.car.honda.carcontroller import HUDData + + +class TestPackerMethods(unittest.TestCase): + def setUp(self): + self.honda_cp_old = CANPackerOld("honda_pilot_touring_2017_can_generated") + self.honda_cp = CANPacker("honda_pilot_touring_2017_can_generated") + + def test_correctness(self): + # Test all commands, randomize the params. + for _ in xrange(1000): + apply_brake = (random.randint(0, 2) % 2 == 0) + pump_on = (random.randint(0, 2) % 2 == 0) + pcm_override = (random.randint(0, 2) % 2 == 0) + pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0) + chime = random.randint(0, 65536) + fcw = random.randint(0, 65536) + idx = random.randint(0, 65536) + m_old = hondacan.create_brake_command(self.honda_cp_old, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx) + m = hondacan.create_brake_command(self.honda_cp, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx) + self.assertEqual(m_old, m) + + apply_steer = (random.randint(0, 2) % 2 == 0) + lkas_active = (random.randint(0, 2) % 2 == 0) + car_fingerprint = HONDA_BOSCH[0] + idx = random.randint(0, 65536) + m_old = hondacan.create_steering_control(self.honda_cp_old, apply_steer, lkas_active, car_fingerprint, idx) + m = hondacan.create_steering_control(self.honda_cp, apply_steer, lkas_active, car_fingerprint, idx) + self.assertEqual(m_old, m) + + pcm_speed = random.randint(0, 65536) + hud = HUDData(random.randint(0, 65536), random.randint(0, 65536), 1, random.randint(0, 65536), + 0xc1, random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536), + random.randint(0, 65536), random.randint(0, 65536), random.randint(0, 65536)) + car_fingerprint = HONDA_BOSCH[0] + idx = random.randint(0, 65536) + m_old = hondacan.create_ui_commands(self.honda_cp_old, pcm_speed, hud, car_fingerprint, idx) + m = hondacan.create_ui_commands(self.honda_cp, pcm_speed, hud, car_fingerprint, idx) + self.assertEqual(m_old, m) + + button_val = random.randint(0, 65536) + idx = random.randint(0, 65536) + m_old = hondacan.spam_buttons_command(self.honda_cp_old, button_val, idx) + m = hondacan.spam_buttons_command(self.honda_cp, button_val, idx) + self.assertEqual(m_old, m) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/can/tests/test_packer_hyundai.py b/selfdrive/can/tests/test_packer_hyundai.py new file mode 100644 index 000000000..d9e829ad5 --- /dev/null +++ b/selfdrive/can/tests/test_packer_hyundai.py @@ -0,0 +1,70 @@ +import unittest +import random + +from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld +from selfdrive.can.packer import CANPacker +import selfdrive.car.hyundai.hyundaican as hyundaican +from selfdrive.car.hyundai.values import CHECKSUM as hyundai_checksum + + +class TestPackerMethods(unittest.TestCase): + def setUp(self): + self.hyundai_cp_old = CANPackerOld("hyundai_kia_generic") + self.hyundai_cp = CANPacker("hyundai_kia_generic") + + def test_correctness(self): + # Test all commands, randomize the params. + for _ in xrange(1000): + # Hyundai + car_fingerprint = hyundai_checksum["crc8"][0] + apply_steer = (random.randint(0, 2) % 2 == 0) + steer_req = (random.randint(0, 2) % 2 == 0) + cnt = random.randint(0, 65536) + enabled = (random.randint(0, 2) % 2 == 0) + lkas11 = { + "CF_Lkas_LdwsSysState": random.randint(0,65536), + "CF_Lkas_SysWarning": random.randint(0,65536), + "CF_Lkas_LdwsLHWarning": random.randint(0,65536), + "CF_Lkas_LdwsRHWarning": random.randint(0,65536), + "CF_Lkas_HbaLamp": random.randint(0,65536), + "CF_Lkas_FcwBasReq": random.randint(0,65536), + "CF_Lkas_ToiFlt": random.randint(0,65536), + "CF_Lkas_HbaSysState": random.randint(0,65536), + "CF_Lkas_FcwOpt": random.randint(0,65536), + "CF_Lkas_HbaOpt": random.randint(0,65536), + "CF_Lkas_FcwSysState": random.randint(0,65536), + "CF_Lkas_FcwCollisionWarning": random.randint(0,65536), + "CF_Lkas_FusionState": random.randint(0,65536), + "CF_Lkas_FcwOpt_USM": random.randint(0,65536), + "CF_Lkas_LdwsOpt_USM": random.randint(0,65536) + } + hud_alert = random.randint(0, 65536) + keep_stock = (random.randint(0, 2) % 2 == 0) + m_old = hyundaican.create_lkas11(self.hyundai_cp_old, car_fingerprint, apply_steer, steer_req, cnt, enabled, + lkas11, hud_alert, keep_stock) + m = hyundaican.create_lkas11(self.hyundai_cp, car_fingerprint, apply_steer, steer_req, cnt, enabled, + lkas11, hud_alert, keep_stock) + self.assertEqual(m_old, m) + + clu11 = { + "CF_Clu_CruiseSwState": random.randint(0,65536), + "CF_Clu_CruiseSwMain": random.randint(0,65536), + "CF_Clu_SldMainSW": random.randint(0,65536), + "CF_Clu_ParityBit1": random.randint(0,65536), + "CF_Clu_VanzDecimal": random.randint(0,65536), + "CF_Clu_Vanz": random.randint(0,65536), + "CF_Clu_SPEED_UNIT": random.randint(0,65536), + "CF_Clu_DetentOut": random.randint(0,65536), + "CF_Clu_RheostatLevel": random.randint(0,65536), + "CF_Clu_CluInfo": random.randint(0,65536), + "CF_Clu_AmpInfo": random.randint(0,65536), + "CF_Clu_AliveCnt1": random.randint(0,65536), + } + button = random.randint(0, 65536) + m_old = hyundaican.create_clu11(self.hyundai_cp_old, clu11, button) + m = hyundaican.create_clu11(self.hyundai_cp, clu11, button) + self.assertEqual(m_old, m) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/can/tests/test_packer_subaru.py b/selfdrive/can/tests/test_packer_subaru.py new file mode 100644 index 000000000..65dd77cf8 --- /dev/null +++ b/selfdrive/can/tests/test_packer_subaru.py @@ -0,0 +1,37 @@ +import unittest +import random + +from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld +from selfdrive.can.packer import CANPacker +import selfdrive.car.subaru.subarucan as subarucan +from selfdrive.car.subaru.values import CAR as subaru_car + + +class TestPackerMethods(unittest.TestCase): + def setUp(self): + self.subaru_cp_old = CANPackerOld("subaru_global_2017") + self.subaru_cp = CANPacker("subaru_global_2017") + + def test_correctness(self): + # Test all cars' commands, randomize the params. + for _ in xrange(1000): + apply_steer = (random.randint(0, 2) % 2 == 0) + frame = random.randint(1, 65536) + steer_step = random.randint(1, 65536) + m_old = subarucan.create_steering_control(self.subaru_cp_old, subaru_car.IMPREZA, apply_steer, frame, steer_step) + m = subarucan.create_steering_control(self.subaru_cp, subaru_car.IMPREZA, apply_steer, frame, steer_step) + self.assertEqual(m_old, m) + + m_old = subarucan.create_steering_status(self.subaru_cp_old, subaru_car.IMPREZA, apply_steer, frame, steer_step) + m = subarucan.create_steering_status(self.subaru_cp, subaru_car.IMPREZA, apply_steer, frame, steer_step) + self.assertEqual(m_old, m) + + es_distance_msg = {} + pcm_cancel_cmd = (random.randint(0, 2) % 2 == 0) + m_old = subarucan.create_es_distance(self.subaru_cp_old, es_distance_msg, pcm_cancel_cmd) + m = subarucan.create_es_distance(self.subaru_cp, es_distance_msg, pcm_cancel_cmd) + self.assertEqual(m_old, m) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/can/tests/test_packer_toyota.py b/selfdrive/can/tests/test_packer_toyota.py new file mode 100644 index 000000000..42e36f317 --- /dev/null +++ b/selfdrive/can/tests/test_packer_toyota.py @@ -0,0 +1,88 @@ +import unittest +import random + +from selfdrive.can.tests.packer_old import CANPacker as CANPackerOld +from selfdrive.can.packer import CANPacker +from selfdrive.car.toyota.toyotacan import ( + create_ipas_steer_command, create_steer_command, create_accel_command, + create_fcw_command, create_ui_command +) +from common.realtime import sec_since_boot + + +class TestPackerMethods(unittest.TestCase): + def setUp(self): + self.cp_old = CANPackerOld("toyota_rav4_hybrid_2017_pt_generated") + self.cp = CANPacker("toyota_rav4_hybrid_2017_pt_generated") + + def test_correctness(self): + # Test all commands, randomize the params. + for _ in xrange(1000): + # Toyota + steer = random.randint(-1, 1) + enabled = (random.randint(0, 2) % 2 == 0) + apgs_enabled = (random.randint(0, 2) % 2 == 0) + m_old = create_ipas_steer_command(self.cp_old, steer, enabled, apgs_enabled) + m = create_ipas_steer_command(self.cp, steer, enabled, apgs_enabled) + self.assertEqual(m_old, m) + + steer = (random.randint(0, 2) % 2 == 0) + steer_req = (random.randint(0, 2) % 2 == 0) + raw_cnt = random.randint(1, 65536) + m_old = create_steer_command(self.cp_old, steer, steer_req, raw_cnt) + m = create_steer_command(self.cp, steer, steer_req, raw_cnt) + self.assertEqual(m_old, m) + + accel = (random.randint(0, 2) % 2 == 0) + pcm_cancel = (random.randint(0, 2) % 2 == 0) + standstill_req = (random.randint(0, 2) % 2 == 0) + lead = (random.randint(0, 2) % 2 == 0) + m_old = create_accel_command(self.cp_old, accel, pcm_cancel, standstill_req, lead) + m = create_accel_command(self.cp, accel, pcm_cancel, standstill_req, lead) + self.assertEqual(m_old, m) + + fcw = random.randint(1, 65536) + m_old = create_fcw_command(self.cp_old, fcw) + m = create_fcw_command(self.cp, fcw) + self.assertEqual(m_old, m) + + steer = (random.randint(0, 2) % 2 == 0) + sound1 = random.randint(1, 65536) + sound2 = random.randint(1, 65536) + left_line = (random.randint(0, 2) % 2 == 0) + right_line = (random.randint(0, 2) % 2 == 0) + left_lane_depart = (random.randint(0, 2) % 2 == 0) + right_lane_depart = (random.randint(0, 2) % 2 == 0) + m_old = create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart) + m = create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart) + self.assertEqual(m_old, m) + + def test_performance(self): + n1 = sec_since_boot() + recursions = 100000 + steer = (random.randint(0, 2) % 2 == 0) + sound1 = random.randint(1, 65536) + sound2 = random.randint(1, 65536) + left_line = (random.randint(0, 2) % 2 == 0) + right_line = (random.randint(0, 2) % 2 == 0) + left_lane_depart = (random.randint(0, 2) % 2 == 0) + right_lane_depart = (random.randint(0, 2) % 2 == 0) + + for _ in xrange(recursions): + create_ui_command(self.cp_old, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart) + n2 = sec_since_boot() + elapsed_old = n2 - n1 + + # print('Old API, elapsed time: {} secs'.format(elapsed_old)) + n1 = sec_since_boot() + for _ in xrange(recursions): + create_ui_command(self.cp, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart) + n2 = sec_since_boot() + elapsed_new = n2 - n1 + # print('New API, elapsed time: {} secs'.format(elapsed_new)) + self.assertTrue(elapsed_new < elapsed_old / 2) + + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 7db36634c..c6a1f9d29 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -97,4 +97,4 @@ class CarController(object): self.ccframe += 1 self.prev_frame = frame - sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) + sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index fd3c081f3..94effcf93 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -1,7 +1,6 @@ from selfdrive.can.parser import CANParser from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD from common.kalman.simple_kalman import KF1D -import numpy as np def parse_gear_shifter(can_gear): @@ -90,10 +89,10 @@ class CarState(object): dt = 0.01 # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) # R = 1e3 - self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]), - A=np.matrix([[1.0, dt], [0.0, 1.0]]), - C=np.matrix([1.0, 0.0]), - K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], + A=[[1.0, dt], [0.0, 1.0]], + C=[1.0, 0.0], + K=[[0.12287673], [0.29666309]]) self.v_ego = 0.0 @@ -127,7 +126,7 @@ class CarState(object): # Kalman filter if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) + self.v_ego_kf.x = [[v_wheel], [0.0]] self.v_ego_raw = v_wheel v_ego_x = self.v_ego_kf.update(v_wheel) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index e0551ef0c..2c3d7455a 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -70,12 +70,12 @@ class CarInterface(object): tireStiffnessRear_civic = 90000 * 2.0 # Speed conversion: 20, 45 mph - ret.steerKpBP, ret.steerKiBP = [[9., 20.], [9., 20.]] ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 ret.mass = 2858 + std_cargo # kg curb weight Pacifica Hybrid 2017 - ret.steerKpV, ret.steerKiV = [[0.15,0.30], [0.03,0.05]] - ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15,0.30], [0.03,0.05]] + ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 ret.steerRateCost = 0.7 @@ -86,8 +86,6 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.44 - ret.longPidDeadzoneBP = [0., 9.] - ret.longPidDeadzoneV = [0., .15] ret.minSteerSpeed = 3.8 # m/s ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this @@ -129,10 +127,12 @@ class CarInterface(object): ret.stoppingControl = False ret.startAccel = 0.0 - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [3.6, 2.4, 1.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.54, 0.36] + ret.longitudinalTuning.deadzoneBP = [0., 9.] + ret.longitudinalTuning.deadzoneV = [0., .15] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.54, 0.36] return ret diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 4636b89a3..c3e1c3580 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -34,6 +34,10 @@ FINGERPRINTS = { # Based on 0607d2516fc2148f|2019-02-13--23-03-16 { 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8 + }, + # Based on 3c7ce223e3571b54|2019-05-11--20-16-14 + { + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1562: 8, 1570: 8 } ], CAR.JEEP_CHEROKEE: [ diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 5a8f1f142..2c7a27eb3 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -46,10 +46,10 @@ class CarState(object): dt = 0.01 # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) # R = 1e3 - self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]), - A=np.matrix([[1.0, dt], [0.0, 1.0]]), - C=np.matrix([1.0, 0.0]), - K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], + A=[[1.0, dt], [0.0, 1.0]], + C=[1.0, 0.0], + K=[[0.12287673], [0.29666309]]) self.v_ego = 0.0 def update(self, cp): @@ -69,7 +69,7 @@ class CarState(object): # Kalman filter if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) + self.v_ego_kf.x = [[v_wheel], [0.0]] self.v_ego_raw = v_wheel v_ego_x = self.v_ego_kf.update(v_wheel) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 25e4d2b9c..a46681eb4 100755 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -69,12 +69,12 @@ class CarInterface(object): tireStiffnessFront_civic = 85400 tireStiffnessRear_civic = 90000 - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.wheelbase = 2.85 ret.steerRatio = 14.8 ret.mass = 3045. * CV.LB_TO_KG + std_cargo - ret.steerKpV, ret.steerKiV = [[0.01], [0.005]] # TODO: tune this - ret.steerKf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this + ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.steerRateCost = 1.0 @@ -84,8 +84,6 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.44 - ret.longPidDeadzoneBP = [0., 9.] - ret.longPidDeadzoneV = [0., .15] # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. @@ -126,10 +124,12 @@ class CarInterface(object): ret.stoppingControl = False ret.startAccel = 0.0 - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [3.6, 2.4, 1.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.54, 0.36] + ret.longitudinalTuning.deadzoneBP = [0., 9.] + ret.longitudinalTuning.deadzoneV = [0., .15] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.54, 0.36] return ret diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 67b240536..26cfd84d3 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -195,4 +195,4 @@ class CarController(object): # issued for the same chime type and duration self.chime = chime - sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) + sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index ae97a38b9..7a18f320c 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -63,10 +63,10 @@ class CarState(object): # vEgo kalman filter dt = 0.01 - self.v_ego_kf = KF1D(x0=np.matrix([[0.], [0.]]), - A=np.matrix([[1., dt], [0., 1.]]), - C=np.matrix([1., 0.]), - K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego_kf = KF1D(x0=[[0.], [0.]], + A=[[1., dt], [0., 1.]], + C=[1., 0.], + K=[[0.12287673], [0.29666309]]) self.v_ego = 0. def update(self, pt_cp): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index d5afffbaa..a21b12d31 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -4,7 +4,8 @@ from common.realtime import sec_since_boot from selfdrive.config import Conversions as CV from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.vehicle_model import VehicleModel -from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, SUPERCRUISE_CARS +from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \ + SUPERCRUISE_CARS, AccState from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser try: @@ -162,25 +163,24 @@ class CarInterface(object): ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) - # same tuning for Volt and CT6 for now - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKpV, ret.steerKiV = [[0.2], [0.00]] - ret.steerKf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] + ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 - ret.steerMaxBP = [0.] # m/s + ret.steerMaxBP = [0.] # m/s ret.steerMaxV = [1.] ret.gasMaxBP = [0.] ret.gasMaxV = [.5] ret.brakeMaxBP = [0.] ret.brakeMaxV = [1.] - ret.longPidDeadzoneBP = [0.] - ret.longPidDeadzoneV = [0.] - ret.longitudinalKpBP = [5., 35.] - ret.longitudinalKpV = [2.4, 1.5] - ret.longitudinalKiBP = [0.] - ret.longitudinalKiV = [0.36] + ret.longitudinalTuning.kpBP = [5., 35.] + ret.longitudinalTuning.kpV = [2.4, 1.5] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.36] + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] ret.steerLimitAlert = True @@ -231,7 +231,7 @@ class CarInterface(object): # cruise state ret.cruiseState.available = bool(self.CS.main_on) - cruiseEnabled = self.CS.pcm_acc_status != 0 + cruiseEnabled = self.CS.pcm_acc_status != AccState.OFF ret.cruiseState.enabled = cruiseEnabled ret.cruiseState.standstill = self.CS.pcm_acc_status == 4 @@ -323,6 +323,8 @@ class CarInterface(object): events.append(create_event('pedalPressed', [ET.PRE_ENABLE])) if ret.cruiseState.standstill: events.append(create_event('resumeRequired', [ET.WARNING])) + if self.CS.pcm_acc_status == AccState.FAULTED: + events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) # handle button presses for b in ret.buttonEvents: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index f6aa0658f..b41919acb 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -30,6 +30,12 @@ class CM: LOW_CHIME = 0x86 HIGH_CHIME = 0x87 +class AccState: + OFF = 0 + ACTIVE = 1 + FAULTED = 3 + STANDSTILL = 4 + AUDIO_HUD = { AudibleAlert.none: (0, 0), AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1), diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 716758313..a164f399f 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -184,4 +184,4 @@ class CarController(object): # This prevents unexpected pedal range rescaling can_sends.append(create_gas_command(self.packer, apply_gas, idx)) - sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) + sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index b8164e8c5..72bca7e3e 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -192,7 +192,7 @@ class CarState(object): # R = 1e3 self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], A=[[1.0, dt], [0.0, 1.0]], - C=[[1.0, 0.0]], + C=[1.0, 0.0], K=[[0.12287673], [0.29666309]]) self.v_ego = 0.0 diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 6c4b4a767..8c3a2bd76 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -183,9 +183,8 @@ class CarInterface(object): # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect. # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani" - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - - ret.steerKf = 0.00006 # conservative feed-forward + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward if candidate in [CAR.CIVIC, CAR.CIVIC_BOSCH]: stop_and_go = True @@ -197,13 +196,13 @@ class CarInterface(object): # Civic at comma has modified steering FW, so different tuning for the Neo in that car is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e'] if is_fw_modified: - ret.steerKf = 0.00004 + ret.lateralTuning.pid.kf = 0.00004 - ret.steerKpV, ret.steerKiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [3.6, 2.4, 1.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.54, 0.36] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.4], [0.12]] if is_fw_modified else [[0.8], [0.24]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.54, 0.36] elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH): stop_and_go = True @@ -214,11 +213,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.39 ret.steerRatio = 15.96 # 11.82 is spec end-to-end tire_stiffness_factor = 0.8467 - ret.steerKpV, ret.steerKiV = [[0.6], [0.18]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ACURA_ILX: stop_and_go = False @@ -227,11 +226,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.37 ret.steerRatio = 18.61 # 15.3 is spec end-to-end tire_stiffness_factor = 0.72 - ret.steerKpV, ret.steerKiV = [[0.8], [0.24]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.CRV: stop_and_go = False @@ -240,11 +239,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.3 # as spec tire_stiffness_factor = 0.444 # not optimized yet - ret.steerKpV, ret.steerKiV = [[0.8], [0.24]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.CRV_5G: stop_and_go = True @@ -254,11 +253,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end tire_stiffness_factor = 0.677 - ret.steerKpV, ret.steerKiV = [[0.6], [0.18]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.CRV_HYBRID: stop_and_go = True @@ -268,11 +267,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # 12.3 is spec end-to-end tire_stiffness_factor = 0.677 - ret.steerKpV, ret.steerKiV = [[0.6], [0.18]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ACURA_RDX: stop_and_go = False @@ -281,11 +280,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.38 ret.steerRatio = 15.0 # as spec tire_stiffness_factor = 0.444 # not optimized yet - ret.steerKpV, ret.steerKiV = [[0.8], [0.24]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ODYSSEY: stop_and_go = False @@ -294,11 +293,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec tire_stiffness_factor = 0.82 - ret.steerKpV, ret.steerKiV = [[0.45], [0.135]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.ODYSSEY_CHN: stop_and_go = False @@ -307,11 +306,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY ret.steerRatio = 14.35 # from CAR.ODYSSEY tire_stiffness_factor = 0.82 # from CAR.ODYSSEY - ret.steerKpV, ret.steerKiV = [[0.45], [0.135]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate in (CAR.PILOT, CAR.PILOT_2019): stop_and_go = False @@ -320,11 +319,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 16.0 # as spec tire_stiffness_factor = 0.444 # not optimized yet - ret.steerKpV, ret.steerKiV = [[0.38], [0.11]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] elif candidate == CAR.RIDGELINE: stop_and_go = False @@ -333,11 +332,11 @@ class CarInterface(object): ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.59 # as spec tire_stiffness_factor = 0.444 # not optimized yet - ret.steerKpV, ret.steerKiV = [[0.38], [0.11]] - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiBP = [0., 35.] - ret.longitudinalKiV = [0.18, 0.12] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiBP = [0., 35.] + ret.longitudinalTuning.kiV = [0.18, 0.12] else: raise ValueError("unsupported car %s" % candidate) @@ -376,8 +375,8 @@ class CarInterface(object): ret.brakeMaxBP = [5., 20.] # m/s ret.brakeMaxV = [1., 0.8] # max brake allowed - ret.longPidDeadzoneBP = [0.] - ret.longPidDeadzoneV = [0.] + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] ret.stoppingControl = True ret.steerLimitAlert = True diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 627e27b4c..82dbc0aed 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -71,6 +71,6 @@ class CarController(object): can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL)) ### Send messages to canbus - sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) + sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) self.cnt += 1 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index bd3e63740..041360f4b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -2,7 +2,6 @@ from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD from selfdrive.can.parser import CANParser from selfdrive.config import Conversions as CV from common.kalman.simple_kalman import KF1D -import numpy as np def get_can_parser(CP): @@ -133,10 +132,10 @@ class CarState(object): dt = 0.01 # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) # R = 1e3 - self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]), - A=np.matrix([[1.0, dt], [0.0, 1.0]]), - C=np.matrix([1.0, 0.0]), - K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], + A=[[1.0, dt], [0.0, 1.0]], + C=[1.0, 0.0], + K=[[0.12287673], [0.29666309]]) self.v_ego = 0.0 self.left_blinker_on = 0 self.left_blinker_flash = 0 @@ -173,7 +172,7 @@ class CarState(object): # Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) + self.v_ego_kf.x = [[v_wheel], [0.0]] self.v_ego_raw = v_wheel v_ego_x = self.v_ego_kf.update(v_wheel) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 618656558..cc5d95d06 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -74,7 +74,7 @@ class CarInterface(object): ret.steerRateCost = 0.5 if candidate == CAR.SANTA_FE: - ret.steerKf = 0.00005 + ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982 * CV.LB_TO_KG + std_cargo ret.wheelbase = 2.766 @@ -82,56 +82,58 @@ class CarInterface(object): ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 - ret.steerKiBP, ret.steerKpBP = [[9., 22.], [9., 22.]] - ret.steerKpV, ret.steerKiV = [[0.2, 0.35], [0.05, 0.09]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] ret.minSteerSpeed = 0. elif candidate == CAR.KIA_SORENTO: - ret.steerKf = 0.00005 + ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985 + std_cargo ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 0. elif candidate == CAR.ELANTRA: - ret.steerKf = 0.00006 + ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275 + std_cargo ret.wheelbase = 2.7 ret.steerRatio = 13.73 #Spec tire_stiffness_factor = 0.385 - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.GENESIS: - ret.steerKf = 0.00005 + ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060 + std_cargo ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKpV, ret.steerKiV = [[0.16], [0.01]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] ret.minSteerSpeed = 35 * CV.MPH_TO_MS elif candidate == CAR.KIA_OPTIMA: - ret.steerKf = 0.00005 + ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558 * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_STINGER: - ret.steerKf = 0.00005 + ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825 + std_cargo ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] - ret.steerKpV, ret.steerKiV = [[0.25], [0.05]] + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 0. ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this - ret.longitudinalKpBP = [0.] - ret.longitudinalKpV = [0.] - ret.longitudinalKiBP = [0.] - ret.longitudinalKiV = [0.] + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.] + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] ret.centerToFront = ret.wheelbase * 0.4 @@ -163,8 +165,6 @@ class CarInterface(object): ret.gasMaxV = [1.] ret.brakeMaxBP = [0.] ret.brakeMaxV = [1.] - ret.longPidDeadzoneBP = [0.] - ret.longPidDeadzoneV = [0.] ret.enableCamera = not any(x for x in CAMERA_MSGS if x in fingerprint) ret.openpilotLongitudinalControl = False diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 3a5e05257..bf9b8a5e7 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -56,8 +56,6 @@ class CarInterface(object): ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13. # reasonable - ret.longPidDeadzoneBP = [0.] - ret.longPidDeadzoneV = [0.] ret.tireStiffnessFront = 1e6 # very stiff to neglect slip ret.tireStiffnessRear = 1e6 # very stiff to neglect slip ret.steerRatioRear = 0. @@ -69,10 +67,12 @@ class CarInterface(object): ret.brakeMaxBP = [0.] ret.brakeMaxV = [0.] - ret.longitudinalKpBP = [0.] - ret.longitudinalKpV = [0.] - ret.longitudinalKiBP = [0.] - ret.longitudinalKiV = [0.] + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.] + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] ret.steerActuatorDelay = 0. return ret diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 33a0fde86..98deb5646 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -73,4 +73,4 @@ class CarController(object): can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert)) self.es_lkas_cnt = CS.es_lkas_msg["Counter"] - sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) + sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 38d2fe479..722b17118 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -1,5 +1,4 @@ import copy -import numpy as np from common.kalman.simple_kalman import KF1D from selfdrive.config import Conversions as CV from selfdrive.can.parser import CANParser @@ -26,6 +25,7 @@ def get_powertrain_can_parser(CP): ("DOOR_OPEN_FL", "BodyInfo", 1), ("DOOR_OPEN_RR", "BodyInfo", 1), ("DOOR_OPEN_RL", "BodyInfo", 1), + ("Units", "Dash_State", 1), ] checks = [ @@ -61,6 +61,10 @@ def get_camera_can_parser(CP): ("Signal3", "ES_LKAS_State", 0), ("LKAS_ENABLE_2", "ES_LKAS_State", 0), ("Signal4", "ES_LKAS_State", 0), + ("LKAS_Left_Line_Visible", "ES_LKAS_State", 0), + ("Signal6", "ES_LKAS_State", 0), + ("LKAS_Right_Line_Visible", "ES_LKAS_State", 0), + ("Signal7", "ES_LKAS_State", 0), ("FCW_Cont_Beep", "ES_LKAS_State", 0), ("FCW_Repeated_Beep", "ES_LKAS_State", 0), ("Throttle_Management_Activated", "ES_LKAS_State", 0), @@ -92,10 +96,10 @@ class CarState(object): # vEgo kalman filter dt = 0.01 - self.v_ego_kf = KF1D(x0=np.matrix([[0.], [0.]]), - A=np.matrix([[1., dt], [0., 1.]]), - C=np.matrix([1., 0.]), - K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego_kf = KF1D(x0=[[0.], [0.]], + A=[[1., dt], [0., 1.]], + C=[1., 0.], + K=[[0.12287673], [0.29666309]]) self.v_ego = 0. def update(self, cp, cp_cam): @@ -114,12 +118,15 @@ class CarState(object): self.v_wheel_rl = cp.vl["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS self.v_wheel_rr = cp.vl["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS - self.v_cruise_pcm = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.MPH_TO_KPH + self.v_cruise_pcm = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] + # 1 = imperial, 6 = metric + if cp.vl["Dash_State"]['Units'] == 1: + self.v_cruise_pcm *= CV.MPH_TO_KPH v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4. # Kalman filter, even though Hyundai raw wheel speed is heaviliy filtered by default if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) + self.v_ego_kf.x = [[v_wheel], [0.0]] self.v_ego_raw = v_wheel v_ego_x = self.v_ego_kf.update(v_wheel) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index ef3da2f39..8de0760b4 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -66,9 +66,9 @@ class CarInterface(object): ret.steerRatio = 15 tire_stiffness_factor = 1.0 ret.steerActuatorDelay = 0.4 # end-to-end angle controller - ret.steerKf = 0.00005 - ret.steerKiBP, ret.steerKpBP = [[0., 20.], [0., 20.]] - ret.steerKpV, ret.steerKiV = [[0.2, 0.3], [0.02, 0.03]] + ret.lateralTuning.pid.kf = 0.00005 + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] ret.steerMaxBP = [0.] # m/s ret.steerMaxV = [1.] @@ -81,12 +81,12 @@ class CarInterface(object): ret.gasMaxV = [0.] ret.brakeMaxBP = [0.] ret.brakeMaxV = [0.] - ret.longPidDeadzoneBP = [0.] - ret.longPidDeadzoneV = [0.] - ret.longitudinalKpBP = [0.] - ret.longitudinalKpV = [0.] - ret.longitudinalKiBP = [0.] - ret.longitudinalKiV = [0.] + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.] + ret.longitudinalTuning.kpBP = [0.] + ret.longitudinalTuning.kpV = [0.] + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.] # end from gm diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 18b892956..0e444d736 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -6,6 +6,10 @@ class CAR: FINGERPRINTS = { CAR.IMPREZA: [{ 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8 + }, + # Crosstrek 2018 (same platform as Subaru) + { + 2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 256: 8, 280: 8, 281: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 805: 8, 808: 8, 811: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1614: 8, 1617: 8, 1632: 8, 1650: 8, 1657: 8, 1658: 8, 1677: 8, 1697: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8 }], } diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index d69636d32..0bd5d9002 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -7,7 +7,7 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\ create_steer_command, create_ui_command, \ create_ipas_steer_command, create_accel_command, \ create_fcw_command -from selfdrive.car.toyota.values import ECU, STATIC_MSGS +from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSSP2_CAR from selfdrive.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -249,7 +249,7 @@ class CarController(object): if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus: can_sends.append(create_ui_command(self.packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart)) - if frame % 100 == 0 and ECU.DSU in self.fake_ecus: + if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSSP2_CAR: can_sends.append(create_fcw_command(self.packer, fcw)) #*** static msgs *** @@ -271,4 +271,4 @@ class CarController(object): can_sends.append(make_can_msg(addr, vl, bus, False)) - sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes()) + sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 02debc47b..88471b61a 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -97,10 +97,10 @@ class CarState(object): dt = 0.01 # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) # R = 1e3 - self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]), - A=np.matrix([[1.0, dt], [0.0, 1.0]]), - C=np.matrix([1.0, 0.0]), - K=np.matrix([[0.12287673], [0.29666309]])) + self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], + A=[[1.0, dt], [0.0, 1.0]], + C=[1.0, 0.0], + K=[[0.12287673], [0.29666309]]) self.v_ego = 0.0 def update(self, cp, cp_cam): @@ -133,7 +133,7 @@ class CarState(object): # Kalman filter if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed - self.v_ego_kf.x = np.matrix([[v_wheel], [0.0]]) + self.v_ego_kf.x = [[v_wheel], [0.0]] self.v_ego_raw = v_wheel v_ego_x = self.v_ego_kf.update(v_wheel) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 0fe0d0821..ea5b748d5 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -5,7 +5,7 @@ from selfdrive.config import Conversions as CV from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser -from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR +from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR from selfdrive.swaglog import cloudlog try: @@ -73,8 +73,10 @@ class CarInterface(object): tireStiffnessFront_civic = 192150 tireStiffnessRear_civic = 202500 - ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + if candidate != CAR.PRIUS: + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] if candidate == CAR.PRIUS: stop_and_go = True @@ -83,10 +85,15 @@ class CarInterface(object): ret.steerRatio = 15.00 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045 * CV.LB_TO_KG + std_cargo - ret.steerKpV, ret.steerKiV = [[0.4], [0.01]] - ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 - # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis - ret.steerActuatorDelay = 0.25 + + ret.lateralTuning.init('indi') + ret.lateralTuning.indi.innerLoopGain = 4.0 + ret.lateralTuning.indi.outerLoopGain = 3.0 + ret.lateralTuning.indi.timeConstant = 1.0 + ret.lateralTuning.indi.actuatorEffectiveness = 1.0 + + ret.steerActuatorDelay = 0.5 + ret.steerRateCost = 0.5 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False @@ -95,8 +102,8 @@ class CarInterface(object): ret.steerRatio = 16.30 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid - ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] - ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] + ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate == CAR.COROLLA: stop_and_go = False @@ -105,8 +112,8 @@ class CarInterface(object): ret.steerRatio = 17.8 tire_stiffness_factor = 0.444 ret.mass = 2860 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid - ret.steerKpV, ret.steerKiV = [[0.2], [0.05]] - ret.steerKf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] + ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 elif candidate == CAR.LEXUS_RXH: stop_and_go = True @@ -115,8 +122,8 @@ class CarInterface(object): ret.steerRatio = 16. # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481 * CV.LB_TO_KG + std_cargo # mean between min and max - ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] - ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] + ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True @@ -125,8 +132,8 @@ class CarInterface(object): ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + std_cargo - ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]] - ret.steerKf = 0.00006 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]] + ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.CAMRY, CAR.CAMRYH]: stop_and_go = True @@ -135,8 +142,8 @@ class CarInterface(object): ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid - ret.steerKpV, ret.steerKiV = [[0.6], [0.1]] - ret.steerKf = 0.00006 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] + ret.lateralTuning.pid.kf = 0.00006 elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True @@ -145,15 +152,42 @@ class CarInterface(object): ret.steerRatio = 16.0 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited - ret.steerKpV, ret.steerKiV = [[0.6], [0.05]] - ret.steerKf = 0.00006 + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] + ret.lateralTuning.pid.kf = 0.00006 + + elif candidate == CAR.AVALON: + stop_and_go = False + ret.safetyParam = 73 # see conversion factor for STEER_TORQUE_EPS in dbc file + ret.wheelbase = 2.82 + ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download + tire_stiffness_factor = 0.7983 + ret.mass = 3505 * CV.LB_TO_KG + std_cargo # mean between normal and hybrid + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] + ret.lateralTuning.pid.kf = 0.00006 + + elif candidate == CAR.RAV4_2019: + stop_and_go = True + ret.safetyParam = 100 + ret.wheelbase = 2.68986 + ret.steerRatio = 14.3 + tire_stiffness_factor = 0.7933 + ret.mass = 3370. * CV.LB_TO_KG + std_cargo + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] + ret.lateralTuning.pid.kf = 0.00007818594 + + elif candidate == CAR.COROLLA_HATCH: + stop_and_go = True + ret.safetyParam = 100 + ret.wheelbase = 2.63906 + ret.steerRatio = 13.9 + tire_stiffness_factor = 0.444 + ret.mass = 3060. * CV.LB_TO_KG + std_cargo + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] + ret.lateralTuning.pid.kf = 0.00007818594 ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 - ret.longPidDeadzoneBP = [0., 9.] - ret.longPidDeadzoneV = [0., .15] - #detect the Pedal address ret.enableGasInterceptor = 0x201 in fingerprint @@ -196,21 +230,24 @@ class CarInterface(object): cloudlog.warn("ECU Gas Interceptor: %r", ret.enableGasInterceptor) ret.steerLimitAlert = False - ret.longitudinalKpBP = [0., 5., 35.] - ret.longitudinalKiBP = [0., 35.] + + ret.longitudinalTuning.deadzoneBP = [0., 9.] + ret.longitudinalTuning.deadzoneV = [0., .15] + ret.longitudinalTuning.kpBP = [0., 5., 35.] + ret.longitudinalTuning.kiBP = [0., 35.] ret.stoppingControl = False ret.startAccel = 0.0 if ret.enableGasInterceptor: ret.gasMaxBP = [0., 9., 35] ret.gasMaxV = [0.2, 0.5, 0.7] - ret.longitudinalKpV = [1.2, 0.8, 0.5] - ret.longitudinalKiV = [0.18, 0.12] + ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5] + ret.longitudinalTuning.kiV = [0.18, 0.12] else: ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] - ret.longitudinalKpV = [3.6, 2.4, 1.5] - ret.longitudinalKiV = [0.54, 0.36] + ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] + ret.longitudinalTuning.kiV = [0.54, 0.36] return ret @@ -270,7 +307,7 @@ class CarInterface(object): ret.cruiseState.available = bool(self.CS.main_on) ret.cruiseState.speedOffset = 0. - if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER] or self.CP.enableGasInterceptor: + if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor: # ignore standstill in hybrid vehicles, since pcm allows to restart without # receiving any special command # also if interceptor is detected @@ -369,7 +406,7 @@ class CarInterface(object): self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.audibleAlert, self.forwarding_camera, - c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible, + c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) self.frame += 1 diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 054ce0b7b..fc6f3e523 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -7,39 +7,48 @@ from cereal import car from common.realtime import sec_since_boot from selfdrive.services import service_list import selfdrive.messaging as messaging -from selfdrive.car.toyota.values import NO_DSU_CAR +from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSSP2_CAR +def _create_radard_can_parser(car_fingerprint): + dbc_f = DBC[car_fingerprint]['radar'] -RADAR_A_MSGS = list(range(0x210, 0x220)) -RADAR_B_MSGS = list(range(0x220, 0x230)) - -def _create_radard_can_parser(): - dbc_f = 'toyota_prius_2017_adas.dbc' + if car_fingerprint in TSSP2_CAR: + RADAR_A_MSGS = list(range(0x180, 0x190)) + RADAR_B_MSGS = list(range(0x190, 0x1a0)) + else: + RADAR_A_MSGS = list(range(0x210, 0x220)) + RADAR_B_MSGS = list(range(0x220, 0x230)) msg_a_n = len(RADAR_A_MSGS) msg_b_n = len(RADAR_B_MSGS) - signals = list(zip( - ['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n + - ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n, - RADAR_A_MSGS * 5 + RADAR_B_MSGS, - [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)) + signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n + + ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n, + RADAR_A_MSGS * 5 + RADAR_B_MSGS, + [255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n) - checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))) + checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)) return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1) - class RadarInterface(object): def __init__(self, CP): # radar self.pts = {} - self.valid_cnt = {key: 0 for key in RADAR_A_MSGS} self.track_id = 0 self.delay = 0.0 # Delay of radar - self.rcp = _create_radard_can_parser() + if CP.carFingerprint in TSSP2_CAR: + self.RADAR_A_MSGS = list(range(0x180, 0x190)) + self.RADAR_B_MSGS = list(range(0x190, 0x1a0)) + else: + self.RADAR_A_MSGS = list(range(0x210, 0x220)) + self.RADAR_B_MSGS = list(range(0x220, 0x230)) + + self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS} + + self.rcp = _create_radard_can_parser(CP.carFingerprint) self.no_dsu_car = CP.carFingerprint in NO_DSU_CAR context = zmq.Context() @@ -48,6 +57,7 @@ class RadarInterface(object): def update(self): ret = car.RadarState.new_message() + if self.no_dsu_car: # TODO: make a adas dbc file for dsu-less models time.sleep(0.05) @@ -58,7 +68,7 @@ class RadarInterface(object): while 1: tm = int(sec_since_boot() * 1e9) updated_messages.update(self.rcp.update(tm, True)) - if RADAR_B_MSGS[-1] in updated_messages: + if self.RADAR_B_MSGS[-1] in updated_messages: break errors = [] @@ -68,7 +78,7 @@ class RadarInterface(object): ret.canMonoTimes = canMonoTimes for ii in updated_messages: - if ii in RADAR_A_MSGS: + if ii in self.RADAR_A_MSGS: cpt = self.rcp.vl[ii] if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']: diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 72224334a..52e3d1510 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -12,6 +12,9 @@ class CAR: CAMRYH = "TOYOTA CAMRY HYBRID 2018" HIGHLANDER = "TOYOTA HIGHLANDER 2017" HIGHLANDERH = "TOYOTA HIGHLANDER HYBRID 2018" + AVALON = "TOYOTA AVALON 2016" + RAV4_2019 = "TOYOTA RAV4 2019" + COROLLA_HATCH = "TOYOTA COROLLA HATCH 2019" class ECU: @@ -22,39 +25,39 @@ class ECU: # addr: (ecu, cars, bus, 1/freq*100, vl) STATIC_MSGS = [ - (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'), - (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), - (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'), - (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 40, '\x06\x00'), - (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'), + (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'), + (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'), + (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'), + (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 40, '\x06\x00'), + (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'), (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'), - (0x466, ECU.CAM, (CAR.COROLLA), 1, 100, '\x24\x20\xB1'), - (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), - (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), - (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'), - (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'), + (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'), + (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), + (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'), + (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'), + (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'), - (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 3, '\xf4\x01\x90\x83\x00\x37'), + (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, '\xf4\x01\x90\x83\x00\x37'), (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 3, '\x03\x00\x20\x00\x00\x52'), - (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 2, '\x00\x00\x00\x46'), - (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'), + (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 2, '\x00\x00\x00\x46'), + (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 7, '\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 7, '\x00\x1e\x00\x00\x00\x80\x07'), (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER), 1, 7, '\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 3, '\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, '\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 5, '\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x00\x80\x03\x00\x08'), - (0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON), 0, 20, '\x00\x00\x00\x80\xfc\x00\x08'), (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, '\x00\x00\x4d\x82\x40\x02\x00'), - (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON), 0, 20, '\x00\x72\x07\xff\x09\xfe\x00'), (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'), (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H), 1, 100, '\x00\x00\x01\x79'), - (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'), (0x292, ECU.APGS, (CAR.PRIUS), 0, 3, '\x00\x00\x00\x00\x00\x00\x00\x9e'), (0x32E, ECU.APGS, (CAR.PRIUS), 0, 20, '\x00\x00\x00\x00\x00\x00\x00\x00'), @@ -123,9 +126,9 @@ FINGERPRINTS = { 36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], CAR.CAMRYH: [ - #LE and LE with Blindspot Monitor + #SE, LE and LE with Blindspot Monitor { - 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }, #SL { @@ -141,6 +144,15 @@ FINGERPRINTS = { CAR.HIGHLANDERH: [{ 36: 8, 37: 8, 170: 8, 180: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 }], + CAR.AVALON: [{ + 36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }], + CAR.RAV4_2019: [{ + 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }], + CAR.COROLLA_HATCH: [{ + 36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8 , 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7 , 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000:8, 1001: 8, 1002: 8, 1017:8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059:1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8 + }] } STEER_THRESHOLD = 100 @@ -157,6 +169,11 @@ DBC = { CAR.CAMRYH: dbc_dict('toyota_camry_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'), CAR.HIGHLANDER: dbc_dict('toyota_highlander_2017_pt_generated', 'toyota_prius_2017_adas'), CAR.HIGHLANDERH: dbc_dict('toyota_highlander_hybrid_2018_pt_generated', 'toyota_prius_2017_adas'), + CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_prius_2017_adas'), + CAR.RAV4_2019: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_rav4_2019_adas'), + CAR.COROLLA_HATCH: dbc_dict('toyota_chr_2018_pt_generated', 'toyota_rav4_2019_adas'), } NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH] +TSSP2_CAR = [CAR.RAV4_2019, CAR.COROLLA_HATCH] +NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_2019, CAR.COROLLA_HATCH] # no resume button press required diff --git a/selfdrive/common/cereal.mk b/selfdrive/common/cereal.mk index 46f23be55..0a3958a23 100644 --- a/selfdrive/common/cereal.mk +++ b/selfdrive/common/cereal.mk @@ -5,11 +5,7 @@ UNAME_S ?= $(shell uname -s) CEREAL_CFLAGS = -I$(PHONELIBS)/capnp-c/include -ifeq ($(OPTEST),1) - -CEREAL_LIBS = -lcapnp -lkj - -else ifeq ($(UNAME_S),Darwin) +ifeq ($(UNAME_S),Darwin) CEREAL_CXXFLAGS = -I$(PHONELIBS)/capnp-cpp/mac/include CEREAL_LIBS = $(PHONELIBS)/capnp-cpp/mac/lib/libcapnp.a \ @@ -33,9 +29,9 @@ ifeq ($(CEREAL_LIBS),) -L$(PHONELIBS)/capnp-c/aarch64/lib/ \ -l:libcapn.a -l:libcapnp.a -l:libkj.a endif - endif + CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o log.capnp.o: ../../cereal/gen/cpp/log.capnp.c++ diff --git a/selfdrive/common/util.c b/selfdrive/common/util.c index 6f8f0a9a6..01b8a0b6d 100644 --- a/selfdrive/common/util.c +++ b/selfdrive/common/util.c @@ -26,6 +26,7 @@ void* read_file(const char* path, size_t* out_len) { fclose(f); if (num_read != 1) { + free(buf); return NULL; } diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h index fd8219990..f2f73bbe0 100644 --- a/selfdrive/common/version.h +++ b/selfdrive/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.5.11-release" +#define COMMA_VERSION "0.5.12-release" diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 31dcbef07..bbc90976b 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -2,6 +2,8 @@ import gc import zmq import json +from collections import defaultdict + from cereal import car, log from common.numpy_fast import clip from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper @@ -19,7 +21,8 @@ from selfdrive.controls.lib.drive_helpers import learn_angle_model_bias, \ update_v_cruise, \ initialize_v_cruise from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED -from selfdrive.controls.lib.latcontrol import LatControl +from selfdrive.controls.lib.latcontrol_pid import LatControlPID +from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.alertmanager import AlertManager from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.controls.lib.driver_monitor import DriverStatus @@ -40,7 +43,7 @@ def isEnabled(state): return (isActive(state) or state == State.preEnabled) -def data_sample(CI, CC, plan_sock, path_plan_sock, thermal, calibration, health, driver_monitor, +def data_sample(rcv_times, CI, CC, plan_sock, path_plan_sock, thermal, calibration, health, driver_monitor, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, state, mismatch_counter, params, plan, path_plan): """Receive data from sockets and create events for battery, temperature and disk space""" @@ -57,18 +60,21 @@ def data_sample(CI, CC, plan_sock, path_plan_sock, thermal, calibration, health, dm = None for socket, event in poller.poll(0): + msg = messaging.recv_one(socket) + rcv_times[msg.which()] = sec_since_boot() + if socket is thermal: - td = messaging.recv_one(socket) + td = msg elif socket is calibration: - cal = messaging.recv_one(socket) + cal = msg elif socket is health: - hh = messaging.recv_one(socket) + hh = msg elif socket is driver_monitor: - dm = messaging.recv_one(socket) + dm = msg elif socket is plan_sock: - plan = messaging.recv_one(socket) + plan = msg elif socket is path_plan_sock: - path_plan = messaging.recv_one(socket) + path_plan = msg if td is not None: overtemp = td.thermal.thermalStatus >= ThermalStatus.red @@ -202,7 +208,7 @@ def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM return state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last -def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, +def state_control(rcv_times, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, driver_status, LaC, LoC, VM, angle_model_bias, passive, is_metric, cal_perc): """Given the state, this function returns an actuators packet""" @@ -246,11 +252,11 @@ def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise path_plan.cPoly, path_plan.cProb, CS.steeringAngle, CS.steeringPressed) - cur_time = sec_since_boot() # TODO: This won't work in replay - mpc_time = plan.l20MonoTime / 1e9 + cur_time = sec_since_boot() + radar_time = rcv_times['plan'] - plan.processingDelay # Subtract processing delay to get the original measurement time _DT = 0.01 # 100Hz - dt = min(cur_time - mpc_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps + dt = min(cur_time - radar_time, _DT_MPC + _DT) + _DT # no greater than dt mpc + dt, to prevent too high extraps a_acc_sol = plan.aStart + (dt / _DT_MPC) * (plan.aTarget - plan.aStart) v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0 @@ -258,8 +264,8 @@ def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill, v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP) # Steering PID loop and lateral MPC - actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle, - CS.steeringPressed, CP, VM, path_plan) + actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, + CS.steeringPressed, CP, VM, path_plan) # Send a "steering required alert" if saturation count has reached the limit if LaC.sat_flag and CP.steerLimitAlert: @@ -278,12 +284,12 @@ def state_control(plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise AM.process_alerts(sec_since_boot()) - return actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc_sol, a_acc_sol + return actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc_sol, a_acc_sol, lac_log def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol, live100, AM, driver_status, - LaC, LoC, angle_model_bias, passive, start_time, v_acc, a_acc): + LaC, LoC, angle_model_bias, passive, start_time, v_acc, a_acc, lac_log): """Send actuators and hud commands to the car, send live100 and MPC logging""" plan_ts = plan.logMonoTime plan = plan.plan @@ -361,9 +367,6 @@ def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruis "uiAccelCmd": float(LoC.pid.i), "ufAccelCmd": float(LoC.pid.f), "angleSteersDes": float(LaC.angle_steers_des), - "upSteer": float(LaC.pid.p), - "uiSteer": float(LaC.pid.i), - "ufSteer": float(LaC.pid.f), "vTargetLead": float(v_acc), "aTarget": float(a_acc), "jerkFactor": float(plan.jerkFactor), @@ -372,10 +375,15 @@ def data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruis "vCurvature": plan.vCurvature, "decelForTurn": plan.decelForTurn, "cumLagMs": -rk.remaining * 1000., - "startMonoTime": start_time, + "startMonoTime": int(start_time * 1e9), "mapValid": plan.mapValid, "forceDecel": bool(force_decel), } + + if CP.lateralTuning.which() == 'pid': + dat.live100.lateralControlState.pidState = lac_log + else: + dat.live100.lateralControlState.indiState = lac_log live100.send(dat.to_bytes()) # carState @@ -443,7 +451,12 @@ def controlsd_thread(gctx=None, rate=100): LoC = LongControl(CP, CI.compute_gb) VM = VehicleModel(CP) - LaC = LatControl(CP) + + if CP.lateralTuning.which() == 'pid': + LaC = LatControlPID(CP) + else: + LaC = LatControlINDI(CP) + AM = AlertManager() driver_status = DriverStatus() @@ -465,6 +478,8 @@ def controlsd_thread(gctx=None, rate=100): mismatch_counter = 0 low_battery = False + rcv_times = defaultdict(int) + plan = messaging.new_message() plan.init('plan') path_plan = messaging.new_message() @@ -485,23 +500,30 @@ def controlsd_thread(gctx=None, rate=100): prof = Profiler(False) # off by default while True: - start_time = int(sec_since_boot() * 1e9) + start_time = sec_since_boot() prof.checkpoint("Ratekeeper", ignore=True) # Sample data and compute car events CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter, plan, path_plan =\ - data_sample(CI, CC, plan_sock, path_plan_sock, thermal, cal, health, driver_monitor, + data_sample(rcv_times, CI, CC, plan_sock, path_plan_sock, thermal, cal, health, driver_monitor, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, state, mismatch_counter, params, plan, path_plan) prof.checkpoint("Sample") - path_plan_age = (start_time - path_plan.logMonoTime) / 1e9 - plan_age = (start_time - plan.logMonoTime) / 1e9 + # Create alerts + path_plan_age = start_time - rcv_times['pathPlan'] + plan_age = start_time - rcv_times['plan'] + if not path_plan.pathPlan.valid or plan_age > 0.5 or path_plan_age > 0.5: events.append(create_event('plannerError', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if not path_plan.pathPlan.paramsValid: events.append(create_event('vehicleModelInvalid', [ET.WARNING])) - events += list(plan.plan.events) + if not path_plan.pathPlan.modelValid: + events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if not plan.plan.radarValid: + events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE])) + if plan.plan.radarCommIssue: + events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) # Only allow engagement with brake pressed when stopped behind another stopped car if CS.brakePressed and plan.plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3: @@ -514,8 +536,8 @@ def controlsd_thread(gctx=None, rate=100): prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) - actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc, a_acc = \ - state_control(plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph, + actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc, a_acc, lac_log = \ + state_control(rcv_times, plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk, driver_status, LaC, LoC, VM, angle_model_bias, passive, is_metric, cal_perc) @@ -523,7 +545,7 @@ def controlsd_thread(gctx=None, rate=100): # Publish data CC = data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol, - live100, AM, driver_status, LaC, LoC, angle_model_bias, passive, start_time, v_acc, a_acc) + live100, AM, driver_status, LaC, LoC, angle_model_bias, passive, start_time, v_acc, a_acc, lac_log) prof.checkpoint("Sent") rk.keep_time() # Run at 100Hz diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 15d5a202f..28e35dddf 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,7 +1,9 @@ from cereal import car -from common.numpy_fast import clip +from common.numpy_fast import clip, interp from selfdrive.config import Conversions as CV +DT = 0.01 # Controlsd runs at 100Hz + # kph V_CRUISE_MAX = 144 V_CRUISE_MIN = 8 @@ -55,6 +57,10 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) +def get_steer_max(CP, v_ego): + return interp(v_ego, CP.steerMaxBP, CP.steerMaxV) + + def learn_angle_model_bias(lateral_control, v_ego, angle_model_bias, c_poly, c_prob, angle_steers, steer_override): # simple integral controller that learns how much steering offset to put to have the car going straight # while being in the middle of the lane diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py index 9af3cb1b1..814d77a6a 100644 --- a/selfdrive/controls/lib/driver_monitor.py +++ b/selfdrive/controls/lib/driver_monitor.py @@ -16,6 +16,7 @@ _PITCH_WEIGHT = 1.5 # pitch matters a lot more _METRIC_THRESHOLD = 0.4 _PITCH_POS_ALLOWANCE = 0.08 # rad, to not be too sensitive on positive pitch _PITCH_NATURAL_OFFSET = 0.1 # people don't seem to look straight when they drive relaxed, rather a bit up +_YAW_NATURAL_OFFSET = 0.08 # people don't seem to look straight when they drive relaxed, rather a bit to the right (center of car) _STD_THRESHOLD = 0.1 # above this standard deviation consider the measurement invalid _DISTRACTED_FILTER_TS = 0.25 # 0.6Hz _VARIANCE_FILTER_TS = 20. # 0.008Hz @@ -89,7 +90,7 @@ class DriverStatus(): def _is_driver_distracted(self, pose): # to be tuned and to learn the driver's normal pose pitch_error = pose.pitch - _PITCH_NATURAL_OFFSET - yaw_error = pose.yaw + yaw_error = pose.yaw - _YAW_NATURAL_OFFSET # add positive pitch allowance if pitch_error > 0.: pitch_error = max(pitch_error - _PITCH_POS_ALLOWANCE, 0.) diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py new file mode 100644 index 000000000..2e95489bc --- /dev/null +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -0,0 +1,104 @@ +import math +import numpy as np + +from selfdrive.car.toyota.carcontroller import SteerLimitParams +from selfdrive.car import apply_toyota_steer_torque_limits +from selfdrive.controls.lib.drive_helpers import get_steer_max, DT +from common.numpy_fast import clip +from cereal import log + + +class LatControlINDI(object): + def __init__(self, CP): + self.angle_steers_des = 0. + + A = np.matrix([[1.0, DT, 0.0], + [0.0, 1.0, DT], + [0.0, 0.0, 1.0]]) + C = np.matrix([[1.0, 0.0, 0.0], + [0.0, 1.0, 0.0]]) + + # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]]) + # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]]) + + # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R) + # K = np.transpose(K) + K = np.matrix([[7.30262179e-01, 2.07003658e-04], + [7.29394177e+00, 1.39159419e-02], + [1.71022442e+01, 3.38495381e-02]]) + + self.K = K + self.A_K = A - np.dot(K, C) + self.x = np.matrix([[0.], [0.], [0.]]) + + self.enfore_rate_limit = CP.carName == "toyota" + + self.RC = CP.lateralTuning.indi.timeConstant + self.G = CP.lateralTuning.indi.actuatorEffectiveness + self.outer_loop_gain = CP.lateralTuning.indi.outerLoopGain + self.inner_loop_gain = CP.lateralTuning.indi.innerLoopGain + self.alpha = 1. - DT / (self.RC + DT) + + self.reset() + + def reset(self): + self.delayed_output = 0. + self.output_steer = 0. + self.counter = 0 + + def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, CP, VM, path_plan): + # Update Kalman filter + y = np.matrix([[math.radians(angle_steers)], [math.radians(angle_steers_rate)]]) + self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y) + + indi_log = log.Live100Data.LateralINDIState.new_message() + indi_log.steerAngle = math.degrees(self.x[0]) + indi_log.steerRate = math.degrees(self.x[1]) + indi_log.steerAccel = math.degrees(self.x[2]) + + if v_ego < 0.3 or not active: + indi_log.active = False + self.output_steer = 0.0 + self.delayed_output = 0.0 + else: + self.angle_steers_des = path_plan.angleSteers + self.rate_steers_des = path_plan.rateSteers + + steers_des = math.radians(self.angle_steers_des) + rate_des = math.radians(self.rate_steers_des) + + # Expected actuator value + self.delayed_output = self.delayed_output * self.alpha + self.output_steer * (1. - self.alpha) + + # Compute acceleration error + rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des + accel_sp = self.inner_loop_gain * (rate_sp - self.x[1]) + accel_error = accel_sp - self.x[2] + + # Compute change in actuator + g_inv = 1. / self.G + delta_u = g_inv * accel_error + + # Enforce rate limit + if self.enfore_rate_limit: + steer_max = float(SteerLimitParams.STEER_MAX) + new_output_steer_cmd = steer_max * (self.delayed_output + delta_u) + prev_output_steer_cmd = steer_max * self.output_steer + new_output_steer_cmd = apply_toyota_steer_torque_limits(new_output_steer_cmd, prev_output_steer_cmd, prev_output_steer_cmd, SteerLimitParams) + self.output_steer = new_output_steer_cmd / steer_max + else: + self.output_steer = self.delayed_output + delta_u + + steers_max = get_steer_max(CP, v_ego) + self.output_steer = clip(self.output_steer, -steers_max, steers_max) + + indi_log.active = True + indi_log.rateSetPoint = float(rate_sp) + indi_log.accelSetPoint = float(accel_sp) + indi_log.accelError = float(accel_error) + indi_log.delayedOutput = float(self.delayed_output) + indi_log.delta = float(delta_u) + indi_log.output = float(self.output_steer) + + self.sat_flag = False + return float(self.output_steer), float(self.angle_steers_des), indi_log diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol_pid.py similarity index 63% rename from selfdrive/controls/lib/latcontrol.py rename to selfdrive/controls/lib/latcontrol_pid.py index 694943870..600990aaa 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -1,29 +1,27 @@ from selfdrive.controls.lib.pid import PIController -from common.numpy_fast import interp +from selfdrive.controls.lib.drive_helpers import get_steer_max from cereal import car - -_DT = 0.01 # 100Hz -_DT_MPC = 0.05 # 20Hz +from cereal import log -def get_steer_max(CP, v_ego): - return interp(v_ego, CP.steerMaxBP, CP.steerMaxV) - - -class LatControl(object): +class LatControlPID(object): def __init__(self, CP): - self.pid = PIController((CP.steerKpBP, CP.steerKpV), - (CP.steerKiBP, CP.steerKiV), - k_f=CP.steerKf, pos_limit=1.0) - self.last_cloudlog_t = 0.0 + self.pid = PIController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), + (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), + k_f=CP.lateralTuning.pid.kf, pos_limit=1.0) self.angle_steers_des = 0. def reset(self): self.pid.reset() - def update(self, active, v_ego, angle_steers, steer_override, CP, VM, path_plan): + def update(self, active, v_ego, angle_steers, angle_steers_rate, steer_override, CP, VM, path_plan): + pid_log = log.Live100Data.LateralPIDState.new_message() + pid_log.steerAngle = float(angle_steers) + pid_log.steerRate = float(angle_steers_rate) + if v_ego < 0.3 or not active: output_steer = 0.0 + pid_log.active = False self.pid.reset() else: # TODO: ideally we should interp, but for tuning reasons we keep the mpc solution @@ -43,6 +41,12 @@ class LatControl(object): deadzone = 0.0 output_steer = self.pid.update(self.angle_steers_des, angle_steers, check_saturation=(v_ego > 10), override=steer_override, feedforward=steer_feedforward, speed=v_ego, deadzone=deadzone) + pid_log.active = True + pid_log.p = self.pid.p + pid_log.i = self.pid.i + pid_log.f = self.pid.f + pid_log.output = output_steer + pid_log.saturated = bool(self.pid.saturated) self.sat_flag = self.pid.saturated - return output_steer, float(self.angle_steers_des) + return output_steer, float(self.angle_steers_des), pid_log diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index da324a39a..0b1eefea7 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -58,8 +58,8 @@ def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid, class LongControl(object): def __init__(self, CP, compute_gb): self.long_control_state = LongCtrlState.off # initialized to off - self.pid = PIController((CP.longitudinalKpBP, CP.longitudinalKpV), - (CP.longitudinalKiBP, CP.longitudinalKiV), + self.pid = PIController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), + (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), rate=RATE, sat_limit=0.8, convert=compute_gb) @@ -99,7 +99,7 @@ class LongControl(object): # Toyota starts braking more when it thinks you want to stop # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration prevent_overshoot = not CP.stoppingControl and v_ego < 1.5 and v_target_future < 0.7 - deadzone = interp(v_ego_pid, CP.longPidDeadzoneBP, CP.longPidDeadzoneV) + deadzone = interp(v_ego_pid, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV) output_gb = self.pid.update(self.v_pid, v_ego_pid, speed=v_ego_pid, deadzone=deadzone, feedforward=a_target, freeze_integrator=prevent_overshoot) diff --git a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp index 1f0e28d00..a34fbc351 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/generator.cpp +++ b/selfdrive/controls/lib/longitudinal_mpc/generator.cpp @@ -32,7 +32,7 @@ int main( ) // Running cost Function h; - h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)); + h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1; h << (d_l - desired) / (0.05 * v_ego + 0.5); h << a_ego * (0.1 * v_ego + 1.0); h << j_ego * (0.1 * v_ego + 1.0); @@ -42,7 +42,7 @@ int main( ) // Terminal cost Function hN; - hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)); + hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1; hN << (d_l - desired) / (0.05 * v_ego + 0.5); hN << a_ego * (0.1 * v_ego + 1.0); diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h index bf64887f1..c0eb83bce 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h +++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_common.h @@ -181,8 +181,8 @@ real_t evGx[ 180 ]; /** Column vector of size: 60 */ real_t evGu[ 60 ]; -/** Column vector of size: 15 */ -real_t objAuxVar[ 15 ]; +/** Column vector of size: 13 */ +real_t objAuxVar[ 13 ]; /** Row vector of size: 6 */ real_t objValueIn[ 6 ]; diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o index 212935769..897e0e0fb 100644 Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_qpoases_interface.o differ diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c index e4bf392f9..8cfc06f3b 100644 --- a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c +++ b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.c @@ -73,7 +73,7 @@ void acado_evaluateLSQ(const real_t* in, real_t* out) const real_t* xd = in; const real_t* u = in + 3; const real_t* od = in + 4; -/* Vector of auxiliary variables; number of elements: 15. */ +/* Vector of auxiliary variables; number of elements: 13. */ real_t* a = acadoWorkspace.objAuxVar; /* Compute intermediate quantities: */ @@ -87,22 +87,20 @@ a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); a[7] = (a[6]*(real_t)(5.0000000000000000e-01)); a[8] = (a[2]*a[2]); a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]); -a[10] = (real_t)(0.0000000000000000e+00); -a[11] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); -a[12] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[13] = (a[11]*a[11]); -a[14] = (real_t)(0.0000000000000000e+00); +a[10] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); +a[11] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); +a[12] = (a[10]*a[10]); /* Compute outputs: */ -out[0] = a[1]; +out[0] = (a[1]-(real_t)(1.0000000000000000e+00)); out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00))); out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00))); out[4] = a[4]; out[5] = a[9]; -out[6] = a[10]; -out[7] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]); -out[8] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12])))*a[11])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[13])); +out[6] = (real_t)(0.0000000000000000e+00); +out[7] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[10]); +out[8] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12])); out[9] = (real_t)(0.0000000000000000e+00); out[10] = (real_t)(0.0000000000000000e+00); out[11] = (xd[2]*(real_t)(1.0000000000000001e-01)); @@ -110,7 +108,7 @@ out[12] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e out[13] = (real_t)(0.0000000000000000e+00); out[14] = (u[0]*(real_t)(1.0000000000000001e-01)); out[15] = (real_t)(0.0000000000000000e+00); -out[16] = a[14]; +out[16] = (real_t)(0.0000000000000000e+00); out[17] = (real_t)(0.0000000000000000e+00); out[18] = (real_t)(0.0000000000000000e+00); out[19] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)); @@ -120,7 +118,7 @@ void acado_evaluateLSQEndTerm(const real_t* in, real_t* out) { const real_t* xd = in; const real_t* od = in + 3; -/* Vector of auxiliary variables; number of elements: 14. */ +/* Vector of auxiliary variables; number of elements: 13. */ real_t* a = acadoWorkspace.objAuxVar; /* Compute intermediate quantities: */ @@ -134,20 +132,19 @@ a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01)))); a[7] = (a[6]*(real_t)(5.0000000000000000e-01)); a[8] = (a[2]*a[2]); a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]); -a[10] = (real_t)(0.0000000000000000e+00); -a[11] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); -a[12] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); -a[13] = (a[11]*a[11]); +a[10] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); +a[11] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01)); +a[12] = (a[10]*a[10]); /* Compute outputs: */ -out[0] = a[1]; +out[0] = (a[1]-(real_t)(1.0000000000000000e+00)); out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01))); out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00))); out[3] = a[4]; out[4] = a[9]; -out[5] = a[10]; -out[6] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[11]); -out[7] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[12])))*a[11])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[13])); +out[5] = (real_t)(0.0000000000000000e+00); +out[6] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[10]); +out[7] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12])); out[8] = (real_t)(0.0000000000000000e+00); out[9] = (real_t)(0.0000000000000000e+00); out[10] = (xd[2]*(real_t)(1.0000000000000001e-01)); diff --git a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o index 435fd9f83..bcdc5b9e8 100644 Binary files a/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o and b/selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/acado_solver.o differ diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so b/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so index 3e05e166d..30f7be05a 100755 Binary files a/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so and b/selfdrive/controls/lib/longitudinal_mpc/libmpc1.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o index 3c0660d96..f10c23217 100644 Binary files a/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o and b/selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.o differ diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 40628ad09..5a0330ff2 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -49,7 +49,7 @@ class PathPlanner(object): self.angle_steers_des_prev = 0.0 self.angle_steers_des_time = 0.0 - def update(self, CP, VM, CS, md, live100, live_parameters): + def update(self, rcv_times, CP, VM, CS, md, live100, live_parameters): v_ego = CS.carState.vEgo angle_steers = CS.carState.steeringAngle active = live100.live100.active @@ -104,6 +104,8 @@ class PathPlanner(object): else: self.invalid_counter = 0 + cur_time = sec_since_boot() + model_dead = cur_time - rcv_times['model'] > 0.5 plan_valid = self.invalid_counter < 2 plan_send = messaging.new_message() @@ -121,6 +123,7 @@ class PathPlanner(object): plan_send.pathPlan.angleOffset = float(angle_offset_average) plan_send.pathPlan.valid = bool(plan_valid) plan_send.pathPlan.paramsValid = bool(live_parameters.liveParameters.valid) + plan_send.pathPlan.modelValid = bool(not model_dead) self.plan.send(plan_send.to_bytes()) diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index 1d5b32c8f..f4b2bf88c 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -6,10 +6,11 @@ from common.params import Params from common.numpy_fast import interp import selfdrive.messaging as messaging +from cereal import car +from common.realtime import sec_since_boot from selfdrive.swaglog import cloudlog from selfdrive.config import Conversions as CV from selfdrive.services import service_list -from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.speed_smoother import speed_smoother from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED from selfdrive.controls.lib.fcw import FCWChecker @@ -113,9 +114,9 @@ class Planner(object): self.v_acc_future = min([self.mpc1.v_mpc_future, self.mpc2.v_mpc_future, v_cruise_setpoint]) - def update(self, CS, CP, VM, PP, live20, live100, md, live_map_data): + def update(self, rcv_times, CS, CP, VM, PP, live20, live100, md, live_map_data): """Gets called when new live20 is available""" - cur_time = live20.logMonoTime / 1e9 + cur_time = sec_since_boot() v_ego = CS.carState.vEgo long_control_state = live100.live100.longControlState @@ -131,11 +132,13 @@ class Planner(object): v_speedlimit = NO_CURVATURE_SPEED v_curvature = NO_CURVATURE_SPEED - map_valid = live_map_data.liveMapData.mapValid + + map_age = cur_time - rcv_times['liveMapData'] + map_valid = live_map_data.liveMapData.mapValid and map_age < 10.0 # Speed limit and curvature set_speed_limit_active = self.params.get("LimitSetSpeed") == "1" and self.params.get("SpeedLimitOffset") is not None - if set_speed_limit_active: + if set_speed_limit_active and map_valid: if live_map_data.liveMapData.speedLimitValid: speed_limit = live_map_data.liveMapData.speedLimit offset = float(self.params.get("SpeedLimitOffset")) @@ -206,24 +209,16 @@ class Planner(object): if fcw: cloudlog.info("FCW triggered %s", self.fcw_checker.counters) - model_dead = cur_time - (md.logMonoTime / 1e9) > 0.5 + radar_dead = cur_time - rcv_times['live20'] > 0.5 + + radar_errors = list(live20.live20.radarErrors) + radar_fault = car.RadarState.Error.fault in radar_errors + radar_comm_issue = car.RadarState.Error.commIssue in radar_errors # **** send the plan **** plan_send = messaging.new_message() plan_send.init('plan') - # TODO: Move all these events to controlsd. This has nothing to do with planning - events = [] - if model_dead: - events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) - - radar_errors = list(live20.live20.radarErrors) - if 'commIssue' in radar_errors: - events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) - if 'fault' in radar_errors: - events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE])) - - plan_send.plan.events = events plan_send.plan.mdMonoTime = md.logMonoTime plan_send.plan.l20MonoTime = live20.logMonoTime @@ -242,6 +237,12 @@ class Planner(object): plan_send.plan.decelForTurn = decel_for_turn plan_send.plan.mapValid = map_valid + radar_valid = not (radar_dead or radar_fault) + plan_send.plan.radarValid = bool(radar_valid) + plan_send.plan.radarCommIssue = bool(radar_comm_issue) + + plan_send.plan.processingDelay = (plan_send.logMonoTime / 1e9) - rcv_times['live20'] + # Send out fcw fcw = fcw and (self.fcw_enabled or long_control_state != LongCtrlState.off) plan_send.plan.fcw = fcw diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index da7d3f71b..99f34dfd5 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -27,7 +27,7 @@ v_ego_stationary = 4. # no stationary object flag below this speed # Lead Kalman Filter params _VLEAD_A = [[1.0, ts], [0.0, 1.0]] -_VLEAD_C = [[1.0, 0.0]] +_VLEAD_C = [1.0, 0.0] #_VLEAD_Q = np.matrix([[10., 0.0], [0.0, 100.]]) #_VLEAD_R = 1e3 #_VLEAD_K = np.matrix([[ 0.05705578], [ 0.03073241]]) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 2a9537540..5946f6192 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -1,8 +1,10 @@ #!/usr/bin/env python import zmq +from collections import defaultdict from cereal import car from common.params import Params +from common.realtime import sec_since_boot from selfdrive.swaglog import cloudlog from selfdrive.services import service_list from selfdrive.controls.lib.planner import Planner @@ -52,22 +54,27 @@ def plannerd_thread(): live_parameters.liveParameters.steerRatio = CP.steerRatio live_parameters.liveParameters.stiffnessFactor = 1.0 + rcv_times = defaultdict(int) + while True: for socket, event in poller.poll(): + msg = messaging.recv_one(socket) + rcv_times[msg.which()] = sec_since_boot() + if socket is live100_sock: - live100 = messaging.recv_one(socket) + live100 = msg elif socket is car_state_sock: - car_state = messaging.recv_one(socket) + car_state = msg elif socket is live_parameters_sock: - live_parameters = messaging.recv_one(socket) + live_parameters = msg elif socket is model_sock: - model = messaging.recv_one(socket) - PP.update(CP, VM, car_state, model, live100, live_parameters) + model = msg + PP.update(rcv_times, CP, VM, car_state, model, live100, live_parameters) elif socket is live_map_data_sock: - live_map_data = messaging.recv_one(socket) + live_map_data = msg elif socket is live20_sock: - live20 = messaging.recv_one(socket) - PL.update(car_state, CP, VM, PP, live20, live100, model, live_map_data) + live20 = msg + PL.update(rcv_times, car_state, CP, VM, PP, live20, live100, model, live_map_data) def main(gctx=None): diff --git a/selfdrive/controls/tests/__init__.py b/selfdrive/controls/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py new file mode 100644 index 000000000..a3cb63601 --- /dev/null +++ b/selfdrive/controls/tests/test_following_distance.py @@ -0,0 +1,90 @@ +import unittest +import numpy as np + +from cereal import log +import selfdrive.messaging as messaging +from selfdrive.config import Conversions as CV +from selfdrive.controls.lib.planner import calc_cruise_accel_limits +from selfdrive.controls.lib.speed_smoother import speed_smoother +from selfdrive.controls.lib.long_mpc import LongitudinalMpc + + +def RW(v_ego, v_l): + TR = 1.8 + G = 9.81 + return (v_ego * TR - (v_l - v_ego) * TR + v_ego * v_ego / (2 * G) - v_l * v_l / (2 * G)) + + +class FakeSocket(object): + def send(self, data): + assert data + + +def run_following_distance_simulation(v_lead, t_end=200.0): + dt = 0.2 + t = 0. + + x_lead = 200.0 + + x_ego = 0.0 + v_ego = v_lead + a_ego = 0.0 + + v_cruise_setpoint = v_lead + 10. + + mpc = LongitudinalMpc(1, FakeSocket()) + + first = True + while t < t_end: + # Run cruise control + accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, False)] + jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])] + v_cruise, a_cruise = speed_smoother(v_ego, a_ego, v_cruise_setpoint, + accel_limits[1], accel_limits[0], + jerk_limits[1], jerk_limits[0], + dt) + + # Setup CarState + CS = messaging.new_message() + CS.init('carState') + CS.carState.vEgo = v_ego + CS.carState.aEgo = a_ego + + # Setup lead packet + lead = log.Live20Data.LeadData.new_message() + lead.status = True + lead.dRel = x_lead - x_ego + lead.vLead = v_lead + lead.aLeadK = 0.0 + + # Run MPC + mpc.set_cur_state(v_ego, a_ego) + if first: # Make sure MPC is converged on first timestep + for _ in range(20): + mpc.update(CS, lead, v_cruise_setpoint) + mpc.update(CS, lead, v_cruise_setpoint) + + # Choose slowest of two solutions + if v_cruise < mpc.v_mpc: + v_ego, a_ego = v_cruise, a_cruise + else: + v_ego, a_ego = mpc.v_mpc, mpc.a_mpc + + # Update state + x_lead += v_lead * dt + x_ego += v_ego * dt + t += dt + first = False + + return x_lead - x_ego + + +class TestFollowingDistance(unittest.TestCase): + def test_following_distanc(self): + for speed_mph in np.linspace(10, 100, num=10): + v_lead = float(speed_mph * CV.MPH_TO_MS) + + simulation_steady_state = run_following_distance_simulation(v_lead) + correct_steady_state = RW(v_lead, v_lead) + 4.0 + + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=0.1) diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 48cca99f9..3ba96fd00 100644 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -5,6 +5,7 @@ import sys import numpy as np import argparse import re +from collections import defaultdict ''' System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs. @@ -27,9 +28,11 @@ PRINT_INTERVAL = 5 SLEEP_INTERVAL = 0.2 monitored_proc_names = [ - 'ubloxd', 'thermald', 'uploader', 'controlsd', 'plannerd', 'radard', 'mapd', 'loggerd' , 'logmessaged', 'tombstoned', + 'ubloxd', 'thermald', 'uploader', 'deleter', 'controlsd', 'plannerd', 'radard', 'mapd', 'loggerd' , 'logmessaged', 'tombstoned', 'logcatd', 'proclogd', 'boardd', 'pandad', './ui', 'calibrationd', 'locationd', 'visiond', 'sensord', 'updated', 'gpsd', 'athena'] +cpu_time_names = ['user', 'system', 'children_user', 'children_system'] +timer = getattr(time, 'monotonic', time.time) def get_arg_parser(): parser = argparse.ArgumentParser( @@ -38,8 +41,10 @@ def get_arg_parser(): parser.add_argument("proc_names", nargs="?", default='', help="Process names to be monitored, comma seperated") - parser.add_argument("--list_all", nargs="?", type=bool, default=False, + parser.add_argument("--list_all", action='store_true', help="Show all running processes' cmdline") + parser.add_argument("--detailed_times", action='store_true', + help="show cpu time details (split by user, system, child user, child system)") return parser @@ -61,39 +66,54 @@ if __name__ == "__main__": if matched: k = ' '.join(p.cmdline()) print('Add monitored proc:', k) - stats[k] = {'cpu_samples': [], 'avg_cpu': None, 'min': None, 'max': None} + stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None), + 'avg': defaultdict(lambda: 0.0), 'last_cpu_times': None, 'last_sys_time':None} + stats[k]['last_sys_time'] = timer() + stats[k]['last_cpu_times'] = p.cpu_times() monitored_procs.append(p) i = 0 interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL) while True: for p in monitored_procs: k = ' '.join(p.cmdline()) - stats[k]['cpu_samples'].append(p.cpu_percent()) + cur_sys_time = timer() + cur_cpu_times = p.cpu_times() + cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time']) + stats[k]['last_sys_time'] = cur_sys_time + stats[k]['last_cpu_times'] = cur_cpu_times + cpu_percent = 0 + for num, name in enumerate(cpu_time_names): + stats[k]['cpu_samples'][name].append(cpu_times[num]) + cpu_percent += cpu_times[num] + stats[k]['cpu_samples']['total'].append(cpu_percent) time.sleep(SLEEP_INTERVAL) i += 1 if i % interval_int == 0: l = [] - avg_cpus = [] for k, stat in stats.items(): if len(stat['cpu_samples']) <= 0: continue - avg_cpu = np.array(stat['cpu_samples']).mean() - c = len(stat['cpu_samples']) - stat['cpu_samples'] = [] - if not stat['avg_cpu']: - stat['avg_cpu'] = avg_cpu - else: - stat['avg_cpu'] = (stat['avg_cpu'] * (c + i) + avg_cpu * c) / (c + i + c) - if not stat['min'] or avg_cpu < stat['min']: - stat['min'] = avg_cpu - if not stat['max'] or avg_cpu > stat['max']: - stat['max'] = avg_cpu - msg = 'avg: {1:.2f}%, min: {2:.2f}%, max: {3:.2f}% {0}'.format(os.path.basename(k), stat['avg_cpu'], stat['min'], stat['max']) - l.append((os.path.basename(k), avg_cpu, msg)) - avg_cpus.append(avg_cpu) + for name, samples in stat['cpu_samples'].iteritems(): + samples = np.array(samples) + avg = samples.mean() + c = samples.size + min_cpu = np.amin(samples) + max_cpu = np.amax(samples) + if stat['min'][name] is None or min_cpu < stat['min'][name]: + stat['min'][name] = min_cpu + if stat['max'][name] is None or max_cpu > stat['max'][name]: + stat['max'][name] = max_cpu + stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i) + stat['cpu_samples'][name] = [] + + msg = 'avg: {1:.2%}, min: {2:.2%}, max: {3:.2%} {0}'.format(os.path.basename(k), stat['avg']['total'], stat['min']['total'], stat['max']['total']) + if args.detailed_times: + for stat_type in ['avg', 'min', 'max']: + msg += '\n {}: {}'.format(stat_type, [name + ':' + str(round(stat[stat_type][name]*100, 2)) for name in cpu_time_names]) + l.append((os.path.basename(k), stat['avg']['total'], msg)) l.sort(key= lambda x: -x[1]) for x in l: print(x[2]) - print('avg sum: {0:.2f}%\n'.format( - sum([stat['avg_cpu'] for k, stat in stats.items()]) + print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format( + sum([stat['avg']['total'] for k, stat in stats.items()]), i, i * SLEEP_INTERVAL )) diff --git a/selfdrive/debug/tuner.py b/selfdrive/debug/tuner.py new file mode 100755 index 000000000..066b0841a --- /dev/null +++ b/selfdrive/debug/tuner.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python +""" +This tool can be used to quickly changes the values in a JSON file used for tuning +Keys like in vim: + - h: decrease by 0.05 + - l: increase by 0.05 + - k: move pointer up + - j: move pointer down +""" + +import tty +import sys +import json +import termios +from collections import OrderedDict + +FILENAME = '/data/tuning.json' + +def read_tuning(): + while True: + try: + return json.loads(open(FILENAME).read()) + except: + pass + +def main(): + dat = json.loads(open(FILENAME, 'r').read()) + dat = OrderedDict(sorted(dat.items(), key=lambda i: i[0])) + + cur = 0 + while True: + sys.stdout.write("\x1Bc") + + for i, (k, v) in enumerate(dat.items()): + prefix = "> " if cur == i else " " + print((prefix + k).ljust(20) + "%.2f" % v) + + key = sys.stdin.read(1)[0] + + write = False + if key == "k": + cur = max(0, cur - 1) + elif key == "j": + cur = min(len(dat.keys()) - 1, cur + 1) + elif key == "l": + dat[dat.keys()[cur]] += 0.05 + write = True + elif key == "h": + dat[dat.keys()[cur]] -= 0.05 + write = True + elif key == "q": + break + + if write: + open(FILENAME, 'w').write(json.dumps(dat)) + + +if __name__ == "__main__": + orig_settings = termios.tcgetattr(sys.stdin) + tty.setcbreak(sys.stdin) + + try: + main() + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings) + except: + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings) + raise diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore new file mode 100644 index 000000000..6c8271a88 --- /dev/null +++ b/selfdrive/locationd/.gitignore @@ -0,0 +1,2 @@ +ubloxd +ubloxd_test diff --git a/selfdrive/locationd/kalman/.gitignore b/selfdrive/locationd/kalman/.gitignore new file mode 100644 index 000000000..9d357c72c --- /dev/null +++ b/selfdrive/locationd/kalman/.gitignore @@ -0,0 +1,4 @@ +lane.cpp +gnss.cpp +loc*.cpp +pos_computer*.cpp diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py new file mode 100644 index 000000000..01a91d774 --- /dev/null +++ b/selfdrive/loggerd/deleter.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python +import os +import shutil +import threading +from selfdrive.swaglog import cloudlog +from selfdrive.loggerd.config import ROOT +from selfdrive.loggerd.uploader import listdir_by_creation_date + + +def deleter_thread(exit_event): + while not exit_event.is_set(): + statvfs = os.statvfs(ROOT) + available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks + + if available_percent < 10.0: + # remove the earliest directory we can + dirs = listdir_by_creation_date(ROOT) + for delete_dir in dirs: + delete_path = os.path.join(ROOT, delete_dir) + + if any(name.endswith(".lock") for name in os.listdir(delete_path)): + continue + + try: + cloudlog.info("deleting %s" % delete_path) + shutil.rmtree(delete_path) + break + except OSError: + cloudlog.exception("issue deleting %s" % delete_path) + + exit_event.wait(30) + + +def main(gctx=None): + deleter_thread(threading.Event()) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/loggerd/loggerd b/selfdrive/loggerd/loggerd index 788a29b70..110aafbb3 100755 Binary files a/selfdrive/loggerd/loggerd and b/selfdrive/loggerd/loggerd differ diff --git a/selfdrive/loggerd/tests/Makefile b/selfdrive/loggerd/tests/Makefile new file mode 100644 index 000000000..d05d54917 --- /dev/null +++ b/selfdrive/loggerd/tests/Makefile @@ -0,0 +1,35 @@ +CC = clang +CXX = clang++ + +PHONELIBS = ../../../phonelibs + +WARN_FLAGS = -Werror=implicit-function-declaration \ + -Werror=incompatible-pointer-types \ + -Werror=int-conversion \ + -Werror=return-type \ + -Werror=format-extra-args \ + -Wno-deprecated-declarations + +CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS) +CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS) + +FFMPEG_LIBS = -lavformat \ + -lavcodec \ + -lswscale \ + -lavutil \ + -lz + +OBJS = testraw.o \ + ../RawLogger.o \ + ../../common/visionipc.o + +testraw: $(OBJS) + $(CXX) -fPIC -o '$@' $^ -L/usr/lib $(FFMPEG_LIBS) + +%.o: %.cc + @echo "[ CXX ] $@" + $(CXX) $(CXXFLAGS) \ + -I../ \ + -I../../ \ + -I../../../ \ + -c -o '$@' '$<' diff --git a/selfdrive/loggerd/tests/__init__.py b/selfdrive/loggerd/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/loggerd/tests/fill_eon.py b/selfdrive/loggerd/tests/fill_eon.py new file mode 100755 index 000000000..2385e3aa5 --- /dev/null +++ b/selfdrive/loggerd/tests/fill_eon.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python +"""Script to fill up EON with fake data""" + +import os + +from selfdrive.loggerd.config import ROOT +from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file + + +if __name__ == "__main__": + segment_idx = 0 + while True: + seg_name = "1970-01-01--00-00-00--%d" % segment_idx + seg_path = os.path.join(ROOT, seg_name) + + print(seg_path) + + create_random_file(os.path.join(seg_path, 'fcamera.hevc'), 36) + create_random_file(os.path.join(seg_path, 'rlog.bz2'), 2) + + segment_idx += 1 + + # Fill up to 99 percent + statvfs = os.statvfs(ROOT) + available_percent = 100.0 * statvfs.f_bavail / statvfs.f_blocks + if available_percent < 1.0: + break diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/selfdrive/loggerd/tests/loggerd_tests_common.py new file mode 100644 index 000000000..dd48381d8 --- /dev/null +++ b/selfdrive/loggerd/tests/loggerd_tests_common.py @@ -0,0 +1,53 @@ +import os +import errno +import shutil +import random +import tempfile +import unittest + +import selfdrive.loggerd.uploader as uploader + + +def create_random_file(file_path, size_mb, lock=False): + try: + os.mkdir(os.path.dirname(file_path)) + except OSError: + pass + + lock_path = file_path + ".lock" + os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL)) + + chunks = 128 + chunk_bytes = int(size_mb * 1024 * 1024 / chunks) + data = os.urandom(chunk_bytes) + + with open(file_path, 'wb') as f: + for _ in range(chunks): + f.write(data) + + if not lock: + os.remove(lock_path) + + +class UploaderTestCase(unittest.TestCase): + f_type = "UNKNOWN" + + def setUp(self): + self.root = tempfile.mkdtemp() + uploader.ROOT = self.root # Monkey patch root dir + self.seg_num = random.randint(1, 300) + self.seg_format = "2019-04-18--12-52-54--{}" + self.seg_dir = self.seg_format.format(self.seg_num) + + def tearDown(self): + try: + shutil.rmtree(self.root) + except OSError as e: + if e.errno != errno.ENOENT: + raise + + def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False): + file_path = os.path.join(self.root, f_dir, fn) + create_random_file(file_path, size_mb) + + return file_path diff --git a/selfdrive/loggerd/tests/test_deleter.py b/selfdrive/loggerd/tests/test_deleter.py new file mode 100644 index 000000000..d804b6f6f --- /dev/null +++ b/selfdrive/loggerd/tests/test_deleter.py @@ -0,0 +1,104 @@ +import os +import time +import threading +from collections import namedtuple + +import selfdrive.loggerd.deleter as deleter +from common.timeout import Timeout, TimeoutException + +from loggerd_tests_common import UploaderTestCase + +Stats = namedtuple("Stats", ['f_bavail', 'f_blocks']) + +fake_stats = Stats(f_bavail=0, f_blocks=10) + + +def fake_statvfs(d): + return fake_stats + + +class TestDeleter(UploaderTestCase): + def setUp(self): + self.f_type = "fcamera.hevc" + super(TestDeleter, self).setUp() + deleter.os.statvfs = fake_statvfs + deleter.ROOT = self.root + + def tearDown(self): + super(TestDeleter, self).tearDown() + + def start_thread(self): + self.end_event = threading.Event() + self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event]) + self.del_thread.daemon = True + self.del_thread.start() + + def join_thread(self): + self.end_event.set() + self.del_thread.join() + + def test_delete(self): + f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1) + + self.start_thread() + + with Timeout(5, "Timeout waiting for file to be deleted"): + while os.path.exists(f_path): + time.sleep(0.5) + self.join_thread() + + self.assertFalse(os.path.exists(f_path), "File not deleted") + + def test_delete_files_in_create_order(self): + f_path_1 = self.make_file_with_data(self.seg_dir, self.f_type) + time.sleep(1) + self.seg_num += 1 + self.seg_dir = self.seg_format.format(self.seg_num) + f_path_2 = self.make_file_with_data(self.seg_dir, self.f_type) + + self.start_thread() + + with Timeout(5, "Timeout waiting for file to be deleted"): + while os.path.exists(f_path_1) and os.path.exists(f_path_2): + time.sleep(0.5) + + self.join_thread() + + self.assertFalse(os.path.exists(f_path_1), "Older file not deleted") + + self.assertTrue(os.path.exists(f_path_2), "Newer file deleted before older file") + + def test_no_delete_when_available_space(self): + global fake_stats + f_path = self.make_file_with_data(self.seg_dir, self.f_type) + + fake_stats = Stats(f_bavail=10, f_blocks=10) + + self.start_thread() + + try: + with Timeout(2, "Timeout waiting for file to be deleted"): + while os.path.exists(f_path): + time.sleep(0.5) + except TimeoutException: + pass + finally: + self.join_thread() + + self.assertTrue(os.path.exists(f_path), "File deleted with available space") + + def test_no_delete_with_lock_file(self): + f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True) + + self.start_thread() + + try: + with Timeout(2, "Timeout waiting for file to be deleted"): + while os.path.exists(f_path): + time.sleep(0.5) + except TimeoutException: + pass + finally: + self.join_thread() + + self.assertTrue(os.path.exists(f_path), "File deleted when locked") diff --git a/selfdrive/loggerd/tests/testraw.cc b/selfdrive/loggerd/tests/testraw.cc new file mode 100644 index 000000000..80858e6f2 --- /dev/null +++ b/selfdrive/loggerd/tests/testraw.cc @@ -0,0 +1,57 @@ +#include +#include +#include + +#include + +#include "common/visionipc.h" +#include "common/timing.h" + +#include "RawLogger.h" + +int main() { + int err; + + VisionStream stream; + + VisionStreamBufs buf_info; + while (true) { + err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info); + if (err != 0) { + printf("visionstream fail\n"); + usleep(100000); + } + break; + } + + RawLogger vidlogger("prcamera", buf_info.width, buf_info.height, 20); + vidlogger.Open("o1"); + + for (int cnt=0; cnt<200; cnt++) { + VIPCBufExtra extra; + VIPSBuf* buf = visionstream_get(&stream, &extra); + if (buf == NULL) { + printf("visionstream get failed\n"); + break; + } + + if (cnt == 100) { + vidlogger.Rotate("o2", 2); + } + + uint8_t *y = (uint8_t*)buf->addr; + uint8_t *u = y + (buf_info.width*buf_info.height); + uint8_t *v = u + (buf_info.width/2)*(buf_info.height/2); + + double t1 = millis_since_boot(); + vidlogger.LogFrame(cnt, y, u, v, NULL); + double t2 = millis_since_boot(); + printf("%d %.2f\n", cnt, (t2-t1)); + } + + vidlogger.Close(); + + visionstream_destroy(&stream); + + return 0; +} diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index 670e924ab..451b0b412 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -116,7 +116,10 @@ class Uploader(object): return for logname in listdir_by_creation_date(self.root): path = os.path.join(self.root, logname) - names = os.listdir(path) + try: + names = os.listdir(path) + except OSError: + continue if any(name.endswith(".lock") for name in names): continue @@ -194,26 +197,6 @@ class Uploader(object): return self.last_resp - def killable_upload(self, key, fn): - self.last_resp = None - self.last_exc = None - - self.upload_thread = threading.Thread(target=lambda: self.do_upload(key, fn)) - self.upload_thread.start() - self.upload_thread.join() - self.upload_thread = None - - return self.last_resp - - def abort_upload(self): - thread = self.upload_thread - if thread is None: - return - if not thread.is_alive(): - return - raise_on_thread(thread, SystemExit) - thread.join() - def compress(self, key, fn): # write out the bz2 compress if fn.endswith("log"): @@ -246,7 +229,6 @@ class Uploader(object): success = True else: cloudlog.info("uploading %r", fn) - # stat = self.killable_upload(key, fn) stat = self.normal_upload(key, fn) if stat is not None and stat.status_code in (200, 201): cloudlog.event("upload_success", key=key, fn=fn, sz=sz) diff --git a/selfdrive/manager.py b/selfdrive/manager.py index 9c6dd646a..6dcd982f7 100755 --- a/selfdrive/manager.py +++ b/selfdrive/manager.py @@ -42,7 +42,7 @@ def unblock_stdout(): if __name__ == "__main__": neos_update_required = os.path.isfile("/init.qcom.rc") \ - and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 8) + and (not os.path.isfile("/VERSION") or int(open("/VERSION").read()) < 9) if neos_update_required: # update continue.sh before updating NEOS if os.path.isfile(os.path.join(BASEDIR, "scripts", "continue.sh")): @@ -88,6 +88,7 @@ from selfdrive.loggerd.config import ROOT managed_processes = { "thermald": "selfdrive.thermald", "uploader": "selfdrive.loggerd.uploader", + "deleter": "selfdrive.loggerd.deleter", "controlsd": "selfdrive.controls.controlsd", "plannerd": "selfdrive.controls.plannerd", "radard": "selfdrive.controls.radard", @@ -127,6 +128,7 @@ persistent_processes = [ 'logcatd', 'tombstoned', 'uploader', + 'deleter', 'ui', 'gpsd', 'updated', diff --git a/selfdrive/mapd/default_speeds_generator.py b/selfdrive/mapd/default_speeds_generator.py index b03e66d7a..888c9e1df 100755 --- a/selfdrive/mapd/default_speeds_generator.py +++ b/selfdrive/mapd/default_speeds_generator.py @@ -1,6 +1,5 @@ #!/usr/bin/env python import json -import six DEFAULT_OUTPUT_FILENAME = "default_speeds_by_region.json" @@ -146,6 +145,31 @@ def main(filename = DEFAULT_OUTPUT_FILENAME): DE.add_rule({"zone:maxspeed": "DE:rural"}, "100") DE.add_rule({"zone:maxspeed": "DE:motorway"}, "none") DE.add_rule({"bicycle_road": "yes"}, "30") + + + """ + -------------------------------------------------- + EE - Estonia + -------------------------------------------------- + """ + EE = Country("EE") + countries.append(EE) + + """ Default rules """ + EE.add_rule({"highway": "motorway"}, "90") + EE.add_rule({"highway": "trunk"}, "90") + EE.add_rule({"highway": "primary"}, "90") + EE.add_rule({"highway": "secondary"}, "50") + EE.add_rule({"highway": "tertiary"}, "50") + EE.add_rule({"highway": "unclassified"}, "90") + EE.add_rule({"highway": "residential"}, "40") + EE.add_rule({"highway": "service"}, "40") + EE.add_rule({"highway": "motorway_link"}, "90") + EE.add_rule({"highway": "trunk_link"}, "70") + EE.add_rule({"highway": "primary_link"}, "70") + EE.add_rule({"highway": "secondary_link"}, "50") + EE.add_rule({"highway": "tertiary_link"}, "50") + EE.add_rule({"highway": "living_street"}, "20") """ --- DO NOT MODIFY CODE BELOW THIS LINE --- """ @@ -206,7 +230,7 @@ class Country(Region): def jsonify(self): ret_dict = {} ret_dict[self.name] = {} - for r_name, region in six.iteritems(self.regions): + for r_name, region in self.regions.items(): ret_dict[self.name].update(region.jsonify()) ret_dict[self.name]['Default'] = self.rules return ret_dict diff --git a/selfdrive/mapd/mapd_helpers.py b/selfdrive/mapd/mapd_helpers.py index 50dde6ecb..58a33ee41 100644 --- a/selfdrive/mapd/mapd_helpers.py +++ b/selfdrive/mapd/mapd_helpers.py @@ -1,4 +1,3 @@ -import six import math import json import numpy as np @@ -92,7 +91,7 @@ def geocode_maxspeed(tags, location_info): rule_valid = all( tag_name in tags and tags[tag_name] == value - for tag_name, value in six.iteritems(rule['tags']) + for tag_name, value in rule['tags'].items() ) if rule_valid: max_speed = rule['speed'] @@ -103,7 +102,7 @@ def geocode_maxspeed(tags, location_info): rule_valid = all( tag_name in tags and tags[tag_name] == value - for tag_name, value in six.iteritems(rule['tags']) + for tag_name, value in rule['tags'].items() ) if rule_valid: max_speed = rule['speed'] diff --git a/selfdrive/sensord/gpsd b/selfdrive/sensord/gpsd index 72b5570da..9d1ef1481 100755 Binary files a/selfdrive/sensord/gpsd and b/selfdrive/sensord/gpsd differ diff --git a/selfdrive/sensord/sensord b/selfdrive/sensord/sensord index b118040cc..67edc76ef 100755 Binary files a/selfdrive/sensord/sensord and b/selfdrive/sensord/sensord differ diff --git a/selfdrive/test/plant/plant.py b/selfdrive/test/plant/plant.py index ac641e294..0b86095c5 100755 --- a/selfdrive/test/plant/plant.py +++ b/selfdrive/test/plant/plant.py @@ -318,7 +318,7 @@ class Plant(object): msg_data = fix(msg_data, 0xe4) can_msgs.append([0xe4, 0, msg_data, 2]) - Plant.logcan.send(can_list_to_can_capnp(can_msgs).to_bytes()) + Plant.logcan.send(can_list_to_can_capnp(can_msgs)) # ******** publish a fake model going straight and fake calibration ******** # note that this is worst case for MPC, since model will delay long mpc by one time step diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py index bacabec29..a2c9b20a8 100755 --- a/selfdrive/thermald.py +++ b/selfdrive/thermald.py @@ -279,10 +279,12 @@ def thermald_thread(): params.car_start() started_ts = sec_since_boot() started_seen = True + os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor') else: started_ts = None if off_ts is None: off_ts = sec_since_boot() + os.system('echo powersave > /sys/class/devfreq/soc:qcom,cpubw/governor') # shutdown if the battery gets lower than 3%, it's discharging, we aren't running for # more than a minute but we were running diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 9b90013d1..3d7061c6a 100644 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -105,7 +105,7 @@ def main(gctx): initial_tombstones = set(get_tombstones()) client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615', - install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty}) + install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty}, string_max_length=10000) client.user_context({'id': os.environ.get('DONGLE_ID')}) while True: diff --git a/selfdrive/ui/slplay.c b/selfdrive/ui/slplay.c index 6e5d8b953..208505766 100644 --- a/selfdrive/ui/slplay.c +++ b/selfdrive/ui/slplay.c @@ -38,25 +38,25 @@ uri_player* slplay_create_player_for_uri(const char* uri, char **error) { result = (*engineInterface)->CreateAudioPlayer(engineInterface, &player.player, &audioSrc, &audioSnk, 0, NULL, NULL); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to create audio player"); + *error = "Failed to create audio player"; return NULL; } result = (*(player.player))->Realize(player.player, SL_BOOLEAN_FALSE); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to realize audio player"); + *error = "Failed to realize audio player"; return NULL; } result = (*(player.player))->GetInterface(player.player, SL_IID_PLAY, &(player.playInterface)); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to get player interface"); + *error = "Failed to get player interface"; return NULL; } result = (*(player.playInterface))->SetPlayState(player.playInterface, SL_PLAYSTATE_PAUSED); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to initialize playstate to SL_PLAYSTATE_PAUSED"); + *error = "Failed to initialize playstate to SL_PLAYSTATE_PAUSED"; return NULL; } @@ -74,29 +74,29 @@ void slplay_setup(char **error) { SLEngineOption engineOptions[] = {{SL_ENGINEOPTION_THREADSAFE, SL_BOOLEAN_TRUE}}; result = slCreateEngine(&engine, 1, engineOptions, 0, NULL, NULL); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to create OpenSL engine"); + *error = "Failed to create OpenSL engine"; } result = (*engine)->Realize(engine, SL_BOOLEAN_FALSE); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to realize OpenSL engine"); + *error = "Failed to realize OpenSL engine"; } result = (*engine)->GetInterface(engine, SL_IID_ENGINE, &engineInterface); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to realize OpenSL engine"); + *error = "Failed to realize OpenSL engine"; } const SLInterfaceID ids[1] = {SL_IID_VOLUME}; const SLboolean req[1] = {SL_BOOLEAN_FALSE}; result = (*engineInterface)->CreateOutputMix(engineInterface, &outputMix, 1, ids, req); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to create output mix"); + *error = "Failed to create output mix"; } result = (*outputMix)->Realize(outputMix, SL_BOOLEAN_FALSE); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to realize output mix"); + *error = "Failed to realize output mix"; } } @@ -120,7 +120,7 @@ void slplay_stop (uri_player* player, char **error) { result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_PAUSED); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to set SL_PLAYSTATE_STOPPED"); + *error = "Failed to set SL_PLAYSTATE_STOPPED"; return; } } @@ -164,7 +164,7 @@ void slplay_play (const char *uri, bool loop, char **error) { result = (*playInterface)->SetCallbackEventsMask(playInterface, SL_PLAYEVENT_HEADATEND); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to set callback event mask"); + *error = "Failed to set callback event mask"; return; } } @@ -172,13 +172,13 @@ void slplay_play (const char *uri, bool loop, char **error) { // Reset the audio player result = (*playInterface)->ClearMarkerPosition(playInterface); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to clear marker position"); + *error = "Failed to clear marker position"; return; } result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_PAUSED); result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_STOPPED); result = (*playInterface)->SetPlayState(playInterface, SL_PLAYSTATE_PLAYING); if (result != SL_RESULT_SUCCESS) { - *error = strdup("Failed to set SL_PLAYSTATE_PLAYING"); + *error = "Failed to set SL_PLAYSTATE_PLAYING"; } } diff --git a/selfdrive/visiond/camera_qcom.c b/selfdrive/visiond/camera_qcom.c index 08a1dff65..45b782ecf 100644 --- a/selfdrive/visiond/camera_qcom.c +++ b/selfdrive/visiond/camera_qcom.c @@ -1925,6 +1925,8 @@ static void camera_close(CameraState *s) { LOG("isp release stream: %d", err); } } + + free(s->eeprom); } diff --git a/selfdrive/visiond/model.cc b/selfdrive/visiond/model.cc index ef1a7df9f..2fbb4f3c9 100644 --- a/selfdrive/visiond/model.cc +++ b/selfdrive/visiond/model.cc @@ -90,6 +90,7 @@ ModelData model_eval_frame(ModelState* s, cl_command_queue q, } void model_free(ModelState* s) { + free(s->output); model_input_free(&s->in); delete s->m; }